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44 void print(
const std::string&
s =
"")
const ;
65 template<
class CLIQUE>
85 typedef typename FactorGraphType::Eliminate
Eliminate;
130 void print(
const std::string&
s =
"",
156 typename Nodes::const_iterator
c =
nodes_.find(
j);
158 throw std::out_of_range(
"Requested the BayesTree clique for a key that is not in the BayesTree");
210 template<
class CONTAINER>
250 int parentnum = 0)
const;
265 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
267 friend class boost::serialization::access;
268 template<
class ARCHIVE>
269 void serialize(ARCHIVE & ar,
const unsigned int ) {
270 ar & BOOST_SERIALIZATION_NVP(
nodes_);
271 ar & BOOST_SERIALIZATION_NVP(
roots_);
280 template <
class CLIQUE,
typename =
void>
284 typedef typename CLIQUE::ConditionalType
Base;
300 this->keys_.assign(
clique->conditional()->beginParents(),
301 clique->conditional()->endParents());
305 const std::string&
s =
"",
void insertRoot(const sharedClique &subtree)
CLIQUE::FactorGraphType FactorGraphType
void fillNodesIndex(const sharedClique &subtree)
FactorGraphType::Eliminate Eliminate
std::size_t maxSeparatorSize
A thin wrapper around std::vector that uses a custom allocator.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
CLIQUE::FactorType FactorType
CLIQUE::ConditionalType Base
void addFactorsToGraph(FactorGraph< FactorType > *graph) const
std::shared_ptr< CliqueType > clique
std::vector< T, typename internal::FastDefaultVectorAllocator< T >::type > FastVector
CLIQUE::ConditionalType ConditionalType
BayesTreeCliqueData getCliqueData() const
ConcurrentMap< Key, sharedClique > Nodes
const KeyFormatter & formatter
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
const Nodes & nodes() const
sharedConditional marginalFactor(Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
std::size_t maxConditionalSize
std::shared_ptr< This > shared_ptr
ofstream os("timeSchurFactors.csv")
FastVector< std::size_t > conditionalSizes
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
void addClique(const sharedClique &clique, const sharedClique &parent_clique=sharedClique())
double avgConditionalSize
void removeTop(const KeyVector &keys, BayesNetType *bn, Cliques *orphans)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
void dot(std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Output to graphviz format, stream version.
Cliques removeSubtree(const sharedClique &subtree)
void print(const Matrix &A, const string &s, ostream &stream)
std::shared_ptr< FactorGraphType > sharedFactorGraph
void removePath(sharedClique clique, BayesNetType *bn, Cliques *orphans)
const Roots & roots() const
CLIQUE::BayesNetType BayesNetType
BayesTreeOrphanWrapper(const std::shared_ptr< CliqueType > &clique)
Construct a new Bayes Tree Orphan Wrapper object.
A clique in a HybridBayesTree which is a HybridConditional internally.
std::shared_ptr< BayesNetType > sharedBayesNet
sharedClique operator[](Key j) const
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
const sharedClique & clique(Key j) const
FastVector< std::size_t > separatorSizes
Clique Node
Synonym for Clique (TODO: remove)
CLIQUE::EliminationTraitsType EliminationTraitsType
This & operator=(const This &other)
void deleteCachedShortcuts()
sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
Key findParentClique(const CONTAINER &parents) const
void removeClique(sharedClique clique)
FastVector< sharedClique > Roots
std::shared_ptr< FactorType > sharedFactor
std::shared_ptr< Clique > sharedClique
Shared pointer to a clique.
std::shared_ptr< ConditionalType > sharedConditional
A thin wrapper around std::list that uses boost's fast_pool_allocator.
sharedClique sharedNode
Synonym for sharedClique (TODO: remove)
bool equals(const This &other, double tol=1e-9) const
void saveGraph(const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
output to file with graphviz format.
sharedFactorGraph joint(Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
NonlinearFactorGraph graph
size_t numCachedSeparatorMarginals() const
std::uint64_t Key
Integer nonlinear key type.
FastList< sharedClique > Cliques
CLIQUE Clique
The clique type, normally BayesTreeClique.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:00