#include <SymbolicJunctionTree.h>
Public Types | |
| typedef JunctionTree< SymbolicBayesTree, SymbolicFactorGraph > | Base |
| Base class. More... | |
| typedef std::shared_ptr< This > | shared_ptr |
| Shared pointer to this class. More... | |
| typedef SymbolicJunctionTree | This |
| This class. More... | |
 Public Types inherited from gtsam::JunctionTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| typedef EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | Base |
| Our base class. More... | |
| typedef std::shared_ptr< This > | shared_ptr |
| Shared pointer to this class. More... | |
| typedef JunctionTree< SymbolicBayesTree, SymbolicFactorGraph > | This |
| This class. More... | |
| Public Types inherited from gtsam::EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| typedef SymbolicBayesTree | BayesTreeType |
| The BayesTree type produced by elimination. More... | |
| typedef SymbolicBayesTree ::ConditionalType | ConditionalType |
| The type of conditionals. More... | |
| typedef SymbolicFactorGraph ::Eliminate | Eliminate |
| Typedef for an eliminate subroutine. More... | |
| typedef SymbolicFactorGraph | FactorGraphType |
| The factor graph type. More... | |
| typedef SymbolicFactorGraph ::FactorType | FactorType |
| The type of factors. More... | |
| typedef std::shared_ptr< This > | shared_ptr |
| Shared pointer to this class. 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 EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | This |
| This class. More... | |
| Public Types inherited from gtsam::ClusterTree< SymbolicFactorGraph > | |
| typedef SymbolicFactorGraph | FactorGraphType |
| The factor graph type. More... | |
| typedef SymbolicFactorGraph ::FactorType | FactorType |
| The type of factors. More... | |
| typedef Cluster | Node |
| typedef std::shared_ptr< This > | shared_ptr |
| Shared pointer to this class. More... | |
| typedef std::shared_ptr< Cluster > | sharedCluster |
| Shared pointer to Cluster. More... | |
| typedef std::shared_ptr< FactorType > | sharedFactor |
| Shared pointer to a factor. More... | |
| typedef sharedCluster | sharedNode |
| typedef ClusterTree< SymbolicFactorGraph > | This |
| This class. More... | |
Public Member Functions | |
| SymbolicJunctionTree (const SymbolicEliminationTree &eliminationTree) | |
| Public Member Functions inherited from gtsam::EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > > | eliminate (const Eliminate &function) const |
| const FastVector< sharedFactor > & | remainingFactors () const |
| Public Member Functions inherited from gtsam::ClusterTree< SymbolicFactorGraph > | |
| ClusterTree () | |
| Default constructor. More... | |
| ~ClusterTree () | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| void | addRoot (const std::shared_ptr< Cluster > &cluster) |
| void | addChildrenAsRoots (const std::shared_ptr< Cluster > &cluster) |
| size_t | nrRoots () const |
| const FastVector< sharedNode > & | roots () const |
| const Cluster & | operator[] (size_t i) const |
Detailed Description
A EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree, with the additional property that it represents the clique tree associated with a Bayes net.
In GTSAM a junction tree is an intermediate data structure in multifrontal variable elimination. Each node is a cluster of factors, along with a clique of variables that are eliminated all at once. In detail, every node k represents a clique (maximal fully connected subset) of an associated chordal graph, such as a chordal Bayes net resulting from elimination.
The difference with the BayesTree is that a JunctionTree stores factors, whereas a BayesTree stores conditionals, that are the product of eliminating the factors in the corresponding JunctionTree cliques.
The tree structure and elimination method are exactly analagous to the EliminationTree, except that in the JunctionTree, at each node multiple variables are eliminated at a time.
Definition at line 50 of file SymbolicJunctionTree.h.
Member Typedef Documentation
◆ Base
Base class.
Definition at line 53 of file SymbolicJunctionTree.h.
◆ shared_ptr
| typedef std::shared_ptr<This> gtsam::SymbolicJunctionTree::shared_ptr |
Shared pointer to this class.
Definition at line 55 of file SymbolicJunctionTree.h.
◆ This
This class.
Definition at line 54 of file SymbolicJunctionTree.h.
Constructor & Destructor Documentation
◆ SymbolicJunctionTree()
| gtsam::SymbolicJunctionTree::SymbolicJunctionTree | ( | const SymbolicEliminationTree & | eliminationTree | ) |
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 30 of file SymbolicJunctionTree.cpp.
The documentation for this class was generated from the following files: