#include <EliminationTree.h>

Classes
struct	Node

Public Types
typedef BAYESNET	BayesNetType
	The BayesNet corresponding to FACTOR. More...

typedef BayesNetType::ConditionalType	ConditionalType
	The type of conditionals. More...

typedef GRAPH::Eliminate	Eliminate

typedef GRAPH	FactorGraphType
	The factor graph type. More...

typedef GRAPH::FactorType	FactorType
	The type of factors. More...

typedef std::shared_ptr< ConditionalType >	sharedConditional
	Shared pointer to a conditional. More...

typedef std::shared_ptr< FactorType >	sharedFactor
	Shared pointer to a factor. More...

typedef std::shared_ptr< Node >	sharedNode
	Shared pointer to Node. More...

Protected Types
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class. More...

typedef EliminationTree< BAYESNET, GRAPH >	This
	This class. More...

Protected Member Functions
	~EliminationTree ()

Protected Attributes
FastVector< sharedFactor >	remainingFactors_

FastVector< sharedNode >	roots_

Standard Constructors
	EliminationTree (const FactorGraphType &factorGraph, const VariableIndex &structure, const Ordering &order)

	EliminationTree (const FactorGraphType &factorGraph, const Ordering &order)

	EliminationTree (const This &other)

This &	operator= (const This &other)

Standard Interface
std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminate (Eliminate function) const

Testable
bool	equals (const This &other, double tol=1e-9) const

void	print (const std::string &name="EliminationTree: ", const KeyFormatter &formatter=DefaultKeyFormatter) const

Advanced Interface
class	::EliminationTreeTester
	Allow access to constructor and add methods for testing purposes. More...

	EliminationTree ()
	Protected default constructor. More...

const FastVector< sharedNode > &	roots () const

const FastVector< sharedFactor > &	remainingFactors () const

void	swap (This &other)

Detailed Description

template<class BAYESNET, class GRAPH>
class gtsam::EliminationTree< BAYESNET, GRAPH >

An elimination tree is a data structure used intermediately during elimination. In future versions it will be used to save work between multiple eliminations.

When a variable is eliminated, a new factor is created by combining that variable's neighboring factors. The new combined factor involves the combined factors' involved variables. When the lowest-ordered one of those variables is eliminated, it consumes that combined factor. In the elimination tree, that lowest-ordered variable is the parent of the variable that was eliminated to produce the combined factor. This yields a tree in general, and not a chain because of the implicit sparse structure of the resulting Bayes net.

This structure is examined even more closely in a JunctionTree, which additionally identifies cliques in the chordal Bayes net.

Definition at line 51 of file EliminationTree.h.

Member Typedef Documentation

◆ BayesNetType

template<class BAYESNET , class GRAPH >

typedef BAYESNET gtsam::EliminationTree< BAYESNET, GRAPH >::BayesNetType

The BayesNet corresponding to FACTOR.

Definition at line 61 of file EliminationTree.h.

◆ ConditionalType

template<class BAYESNET , class GRAPH >

typedef BayesNetType::ConditionalType gtsam::EliminationTree< BAYESNET, GRAPH >::ConditionalType

The type of conditionals.

Definition at line 62 of file EliminationTree.h.

◆ Eliminate

template<class BAYESNET , class GRAPH >

typedef GRAPH::Eliminate gtsam::EliminationTree< BAYESNET, GRAPH >::Eliminate

Definition at line 64 of file EliminationTree.h.

◆ FactorGraphType

template<class BAYESNET , class GRAPH >

typedef GRAPH gtsam::EliminationTree< BAYESNET, GRAPH >::FactorGraphType

The factor graph type.

Definition at line 58 of file EliminationTree.h.

◆ FactorType

template<class BAYESNET , class GRAPH >

typedef GRAPH::FactorType gtsam::EliminationTree< BAYESNET, GRAPH >::FactorType

The type of factors.

Definition at line 59 of file EliminationTree.h.

◆ shared_ptr

template<class BAYESNET , class GRAPH >

typedef std::shared_ptr<This> gtsam::EliminationTree< BAYESNET, GRAPH >::shared_ptr

protected

Shared pointer to this class.

Definition at line 55 of file EliminationTree.h.

◆ sharedConditional

template<class BAYESNET , class GRAPH >

typedef std::shared_ptr<ConditionalType> gtsam::EliminationTree< BAYESNET, GRAPH >::sharedConditional

Shared pointer to a conditional.

Definition at line 63 of file EliminationTree.h.

◆ sharedFactor

template<class BAYESNET , class GRAPH >

typedef std::shared_ptr<FactorType> gtsam::EliminationTree< BAYESNET, GRAPH >::sharedFactor

Shared pointer to a factor.

Definition at line 60 of file EliminationTree.h.

◆ sharedNode

template<class BAYESNET , class GRAPH >

typedef std::shared_ptr<Node> gtsam::EliminationTree< BAYESNET, GRAPH >::sharedNode

Shared pointer to Node.

Definition at line 80 of file EliminationTree.h.

◆ This

template<class BAYESNET , class GRAPH >

typedef EliminationTree<BAYESNET, GRAPH> gtsam::EliminationTree< BAYESNET, GRAPH >::This

protected

This class.

Definition at line 54 of file EliminationTree.h.

Constructor & Destructor Documentation

◆ EliminationTree() [1/4]

template<class BAYESNET , class GRAPH >

gtsam::EliminationTree< BAYESNET, GRAPH >::EliminationTree	(	const FactorGraphType &	factorGraph,
		const VariableIndex &	structure,
		const Ordering &	order
	)

protected

Build the elimination tree of a factor graph using pre-computed column structure.

Parameters

factorGraph	The factor graph for which to build the elimination tree
structure	The set of factors involving each variable. If this is not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&) named constructor instead.

Returns: The elimination tree

Definition at line 78 of file EliminationTree-inst.h.

◆ EliminationTree() [2/4]

template<class BAYESNET , class GRAPH >

gtsam::EliminationTree< BAYESNET, GRAPH >::EliminationTree	(	const FactorGraphType &	factorGraph,
		const Ordering &	order
	)

protected

Build the elimination tree of a factor graph. Note that this has to compute the column structure as a VariableIndex, so if you already have this precomputed, use the other constructor instead.

Parameters

factorGraph The factor graph for which to build the elimination tree

Definition at line 160 of file EliminationTree-inst.h.

◆ EliminationTree() [3/4]

template<class BAYESNET , class GRAPH >

gtsam::EliminationTree< BAYESNET, GRAPH >::EliminationTree ( const This & other )

inlineprotected

Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.

Definition at line 112 of file EliminationTree.h.

◆ ~EliminationTree()

template<class BAYESNET , class GRAPH >

gtsam::EliminationTree< BAYESNET, GRAPH >::~EliminationTree

protected

Destructor Using default destructor causes stack overflow for large trees due to recursive destruction of nodes; so we manually decrease the reference count of each node in the tree through a BFS, and the nodes with reference count 0 will be deleted. Please see PR-1441 for more details.

Definition at line 193 of file EliminationTree-inst.h.

◆ EliminationTree() [4/4]

template<class BAYESNET , class GRAPH >

gtsam::EliminationTree< BAYESNET, GRAPH >::EliminationTree ( )

inlineprotected

Protected default constructor.

Definition at line 164 of file EliminationTree.h.

Member Function Documentation

◆ eliminate()

template<class BAYESNET , class GRAPH >

std::pair< std::shared_ptr< BAYESNET >, std::shared_ptr< GRAPH > > gtsam::EliminationTree< BAYESNET, GRAPH >::eliminate ( Eliminate function ) const

Eliminate the factors to a Bayes net and remaining factor graph

Parameters

function The function to use to eliminate, see the namespace functions in GaussianFactorGraph.h

Returns: The Bayes net and factor graph resulting from elimination

Definition at line 224 of file EliminationTree-inst.h.

◆ equals()

template<class BAYESNET , class GRAPH >

bool gtsam::EliminationTree< BAYESNET, GRAPH >::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

protected

Test whether the tree is equal to another

Definition at line 251 of file EliminationTree-inst.h.

◆ operator=()

template<class BAYESNET , class GRAPH >

EliminationTree< BAYESNET, GRAPH > & gtsam::EliminationTree< BAYESNET, GRAPH >::operator= ( const This & other )

protected

Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.

Definition at line 173 of file EliminationTree-inst.h.

◆ print()

template<class BAYESNET , class GRAPH >

void gtsam::EliminationTree< BAYESNET, GRAPH >::print	(	const std::string &	name = `"EliminationTree< BAYESNET, GRAPH >: "`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

Print the tree to cout

Definition at line 244 of file EliminationTree-inst.h.

◆ remainingFactors()

template<class BAYESNET , class GRAPH >

const FastVector<sharedFactor>& gtsam::EliminationTree< BAYESNET, GRAPH >::remainingFactors ( ) const

inline

Return the remaining factors that are not pulled into elimination

Definition at line 157 of file EliminationTree.h.

◆ roots()

template<class BAYESNET , class GRAPH >

const FastVector<sharedNode>& gtsam::EliminationTree< BAYESNET, GRAPH >::roots ( ) const

inline

Return the set of roots (one for a tree, multiple for a forest)

Definition at line 154 of file EliminationTree.h.

◆ swap()

template<class BAYESNET , class GRAPH >

void gtsam::EliminationTree< BAYESNET, GRAPH >::swap ( This & other )

Swap the data of this tree with another one, this operation is very fast.

Definition at line 320 of file EliminationTree-inst.h.

Friends And Related Function Documentation

◆ ::EliminationTreeTester

template<class BAYESNET , class GRAPH >

friend class ::EliminationTreeTester

friend

Allow access to constructor and add methods for testing purposes.

Definition at line 168 of file EliminationTree.h.

Member Data Documentation

◆ remainingFactors_

template<class BAYESNET , class GRAPH >

FastVector<sharedFactor> gtsam::EliminationTree< BAYESNET, GRAPH >::remainingFactors_

protected

Definition at line 87 of file EliminationTree.h.

◆ roots_

template<class BAYESNET , class GRAPH >

FastVector<sharedNode> gtsam::EliminationTree< BAYESNET, GRAPH >::roots_

protected

concept check

Definition at line 86 of file EliminationTree.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Standard Constructors

Standard Interface

Testable

Advanced Interface

Detailed Description

template<class BAYESNET, class GRAPH> class gtsam::EliminationTree< BAYESNET, GRAPH >

Member Typedef Documentation

◆ BayesNetType

◆ ConditionalType

◆ Eliminate

◆ FactorGraphType

◆ FactorType

◆ shared_ptr

◆ sharedConditional

◆ sharedFactor

◆ sharedNode

◆ This

Constructor & Destructor Documentation

◆ EliminationTree() [1/4]

◆ EliminationTree() [2/4]

◆ EliminationTree() [3/4]

◆ ~EliminationTree()

◆ EliminationTree() [4/4]

Member Function Documentation

◆ eliminate()

◆ equals()

◆ operator=()

◆ print()

◆ remainingFactors()

◆ roots()

◆ swap()

Friends And Related Function Documentation

◆ ::EliminationTreeTester

Member Data Documentation

◆ remainingFactors_

◆ roots_

template<class BAYESNET, class GRAPH>
class gtsam::EliminationTree< BAYESNET, GRAPH >