#include <BayesTreeCliqueBase.h>

Public Types
typedef EliminationTraitsType::BayesNetType	BayesNetType

typedef BayesNetType::ConditionalType	ConditionalType

typedef FactorGraphType::Eliminate	Eliminate

typedef FACTORGRAPH	FactorGraphType

typedef FactorGraphType::FactorType	FactorType

typedef std::shared_ptr< ConditionalType >	sharedConditional

Public Member Functions
void	setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult)

Public Attributes
FastVector< derived_ptr >	children

sharedConditional	conditional_

bool	is_root = false

derived_weak_ptr	parent_

int	problemSize_

Protected Attributes
std::optional< FactorGraphType >	cachedSeparatorMarginal_
	This stores the Cached separator marginal P(S) More...

std::mutex	cachedSeparatorMarginalMutex_

Private Types
typedef std::shared_ptr< DerivedType >	derived_ptr

typedef std::weak_ptr< DerivedType >	derived_weak_ptr

typedef DERIVED	DerivedType

typedef EliminationTraits< FACTORGRAPH >	EliminationTraitsType

typedef std::shared_ptr< This >	shared_ptr

typedef BayesTreeCliqueBase< DERIVED, FACTORGRAPH >	This

typedef std::weak_ptr< This >	weak_ptr

Standard Constructors
	BayesTreeCliqueBase ()
	Default constructor. More...

	BayesTreeCliqueBase (const sharedConditional &conditional)

	BayesTreeCliqueBase (const BayesTreeCliqueBase &c)
	Shallow copy constructor. More...

BayesTreeCliqueBase &	operator= (const BayesTreeCliqueBase &c)
	Shallow copy assignment constructor. More...

virtual	~BayesTreeCliqueBase ()

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

virtual void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

Standard Interface
const sharedConditional &	conditional () const

sharedConditional &	conditional ()

bool	isRoot () const
	Return true if this clique is the root of a Bayes tree. More...

size_t	nrChildren () const
	Return the number of children. More...

const derived_ptr	operator[] (size_t i) const
	Return the child at index i. More...

size_t	treeSize () const

size_t	numCachedSeparatorMarginals () const

derived_ptr	parent () const

int	problemSize () const

Advanced Interface
class	BayesTree< DerivedType >

KeyVector	separator_setminus_B (const derived_ptr &B) const
	Calculate set $S \setminus B$ for shortcut calculations. More...

KeyVector	shortcut_indices (const derived_ptr &B, const FactorGraphType &p_Cp_B) const

void	deleteCachedShortcutsNonRecursive ()

BayesNetType	shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const

void	deleteCachedShortcuts ()

const std::optional< FactorGraphType > &	cachedSeparatorMarginal () const

Detailed Description

template<class DERIVED, class FACTORGRAPH>
class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >

This is the base class for BayesTree cliques. The default and standard derived type is BayesTreeClique, but some algorithms, like iSAM2, use a different clique type in order to store extra data along with the clique.

This class is templated on the derived class (i.e. the curiously recursive template pattern). The advantage of this over using virtual classes is that it avoids the need for casting to get the derived type. This is possible because all cliques in a BayesTree are the same type - if they were not then we'd need a virtual class.

Template Parameters

DERIVED	The derived clique type.
CONDITIONAL	The conditional type.

Definition at line 49 of file BayesTreeCliqueBase.h.

Member Typedef Documentation

◆ BayesNetType

template<class DERIVED , class FACTORGRAPH >

typedef EliminationTraitsType::BayesNetType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesNetType

Definition at line 62 of file BayesTreeCliqueBase.h.

◆ ConditionalType

template<class DERIVED , class FACTORGRAPH >

typedef BayesNetType::ConditionalType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::ConditionalType

Definition at line 63 of file BayesTreeCliqueBase.h.

◆ derived_ptr

template<class DERIVED , class FACTORGRAPH >

typedef std::shared_ptr<DerivedType> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::derived_ptr

private

Definition at line 57 of file BayesTreeCliqueBase.h.

◆ derived_weak_ptr

template<class DERIVED , class FACTORGRAPH >

typedef std::weak_ptr<DerivedType> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::derived_weak_ptr

private

Definition at line 58 of file BayesTreeCliqueBase.h.

◆ DerivedType

template<class DERIVED , class FACTORGRAPH >

typedef DERIVED gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::DerivedType

private

Definition at line 53 of file BayesTreeCliqueBase.h.

◆ Eliminate

template<class DERIVED , class FACTORGRAPH >

typedef FactorGraphType::Eliminate gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::Eliminate

Definition at line 66 of file BayesTreeCliqueBase.h.

◆ EliminationTraitsType

template<class DERIVED , class FACTORGRAPH >

typedef EliminationTraits<FACTORGRAPH> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::EliminationTraitsType

private

Definition at line 54 of file BayesTreeCliqueBase.h.

◆ FactorGraphType

template<class DERIVED , class FACTORGRAPH >

typedef FACTORGRAPH gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorGraphType

Definition at line 61 of file BayesTreeCliqueBase.h.

◆ FactorType

template<class DERIVED , class FACTORGRAPH >

typedef FactorGraphType::FactorType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorType

Definition at line 65 of file BayesTreeCliqueBase.h.

◆ shared_ptr

template<class DERIVED , class FACTORGRAPH >

typedef std::shared_ptr<This> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::shared_ptr

private

Definition at line 55 of file BayesTreeCliqueBase.h.

◆ sharedConditional

template<class DERIVED , class FACTORGRAPH >

typedef std::shared_ptr<ConditionalType> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::sharedConditional

Definition at line 64 of file BayesTreeCliqueBase.h.

◆ This

template<class DERIVED , class FACTORGRAPH >

typedef BayesTreeCliqueBase<DERIVED, FACTORGRAPH> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::This

private

Definition at line 52 of file BayesTreeCliqueBase.h.

◆ weak_ptr

template<class DERIVED , class FACTORGRAPH >

typedef std::weak_ptr<This> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::weak_ptr

private

Definition at line 56 of file BayesTreeCliqueBase.h.

Constructor & Destructor Documentation

◆ BayesTreeCliqueBase() [1/3]

template<class DERIVED , class FACTORGRAPH >

gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesTreeCliqueBase ( )

inlineprotected

Default constructor.

Definition at line 74 of file BayesTreeCliqueBase.h.

◆ BayesTreeCliqueBase() [2/3]

template<class DERIVED , class FACTORGRAPH >

gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesTreeCliqueBase ( const sharedConditional & conditional )

inlineprotected

Construct from a conditional, leaving parent and child pointers uninitialized.

Definition at line 78 of file BayesTreeCliqueBase.h.

◆ BayesTreeCliqueBase() [3/3]

template<class DERIVED , class FACTORGRAPH >

gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesTreeCliqueBase ( const BayesTreeCliqueBase< DERIVED, FACTORGRAPH > & c )

inlineprotected

Shallow copy constructor.

Definition at line 82 of file BayesTreeCliqueBase.h.

◆ ~BayesTreeCliqueBase()

template<class DERIVED , class FACTORGRAPH >

virtual gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::~BayesTreeCliqueBase ( )

inlineprotectedvirtual

Definition at line 100 of file BayesTreeCliqueBase.h.

Member Function Documentation

◆ cachedSeparatorMarginal()

template<class DERIVED , class FACTORGRAPH >

const std::optional<FactorGraphType>& gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::cachedSeparatorMarginal ( ) const

inline

Definition at line 186 of file BayesTreeCliqueBase.h.

◆ conditional() [1/2]

template<class DERIVED , class FACTORGRAPH >

sharedConditional& gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::conditional ( )

inline

Write access to the conditional

Definition at line 144 of file BayesTreeCliqueBase.h.

◆ conditional() [2/2]

template<class DERIVED , class FACTORGRAPH >

const sharedConditional& gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::conditional ( ) const

inline

Access the conditional

Definition at line 141 of file BayesTreeCliqueBase.h.

◆ deleteCachedShortcuts()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::deleteCachedShortcuts

This deletes the cached shortcuts of all cliques (subtree) below this clique. This is performed when the bayes tree is modified.

Definition at line 207 of file BayesTreeCliqueBase-inst.h.

◆ deleteCachedShortcutsNonRecursive()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::deleteCachedShortcutsNonRecursive ( )

inlineprotected

Non-recursive delete cached shortcuts and marginals - internal only.

Definition at line 204 of file BayesTreeCliqueBase.h.

◆ equals()

template<class DERIVED , class FACTORGRAPH >

bool gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::equals	(	const DERIVED &	other,
		double	tol = `1e-9`
	)		const

check equality

Definition at line 35 of file BayesTreeCliqueBase-inst.h.

◆ isRoot()

template<class DERIVED , class FACTORGRAPH >

bool gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::isRoot ( ) const

inline

Return true if this clique is the root of a Bayes tree.

Definition at line 147 of file BayesTreeCliqueBase.h.

◆ marginal2()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorGraphType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::marginal2 ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

return the marginal P(C) of the clique, using marginal caching

Definition at line 195 of file BayesTreeCliqueBase-inst.h.

◆ nrChildren()

template<class DERIVED , class FACTORGRAPH >

size_t gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::nrChildren ( ) const

inline

Return the number of children.

Definition at line 150 of file BayesTreeCliqueBase.h.

◆ numCachedSeparatorMarginals()

template<class DERIVED , class FACTORGRAPH >

size_t gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::numCachedSeparatorMarginals

Collect number of cliques with cached separator marginals

Definition at line 93 of file BayesTreeCliqueBase-inst.h.

◆ operator=()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase& gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::operator= ( const BayesTreeCliqueBase< DERIVED, FACTORGRAPH > & c )

inlineprotected

Shallow copy assignment constructor.

Definition at line 90 of file BayesTreeCliqueBase.h.

◆ operator[]()

template<class DERIVED , class FACTORGRAPH >

const derived_ptr gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::operator[] ( size_t i ) const

inline

Return the child at index i.

Definition at line 153 of file BayesTreeCliqueBase.h.

◆ parent()

template<class DERIVED , class FACTORGRAPH >

derived_ptr gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::parent ( ) const

inline

return a shared_ptr to the parent clique

Definition at line 162 of file BayesTreeCliqueBase.h.

◆ print()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

virtual

print this node

Reimplemented in gtsam::ISAM2Clique.

Definition at line 76 of file BayesTreeCliqueBase-inst.h.

◆ problemSize()

template<class DERIVED , class FACTORGRAPH >

int gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::problemSize ( ) const

inline

Problem size (used for parallel traversal)

Definition at line 165 of file BayesTreeCliqueBase.h.

◆ separator_setminus_B()

template<class DERIVED , class FACTORGRAPH >

KeyVector gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::separator_setminus_B ( const derived_ptr & B ) const

protected

Calculate set $S \setminus B$ for shortcut calculations.

Definition at line 45 of file BayesTreeCliqueBase-inst.h.

◆ separatorMarginal()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorGraphType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::separatorMarginal ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

return the marginal P(S) on the separator

Definition at line 147 of file BayesTreeCliqueBase-inst.h.

◆ setEliminationResult()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::setEliminationResult ( const typename FactorGraphType::EliminationResult & eliminationResult )

Fill the elimination result produced during elimination. Here this just stores the conditional and ignores the remaining factor, but this is overridden in ISAM2Clique to also cache the remaining factor.

Definition at line 27 of file BayesTreeCliqueBase-inst.h.

◆ shortcut()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesNetType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::shortcut	(	const derived_ptr &	root,
		Eliminate	function = `EliminationTraitsType::DefaultEliminate`
	)		const

return the conditional P(S|Root) on the separator given the root

Definition at line 113 of file BayesTreeCliqueBase-inst.h.

◆ shortcut_indices()

template<class DERIVED , class FACTORGRAPH >

KeyVector gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::shortcut_indices	(	const derived_ptr &	B,
		const FactorGraphType &	p_Cp_B
	)		const

protected

Determine variable indices to keep in recursive separator shortcut calculation The factor graph p_Cp_B has keys from the parent clique Cp and from B. But we only keep the variables not in S union B.

Definition at line 57 of file BayesTreeCliqueBase-inst.h.

◆ treeSize()

template<class DERIVED , class FACTORGRAPH >

size_t gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::treeSize

The size of subtree rooted at this clique, i.e., nr of Cliques

Definition at line 84 of file BayesTreeCliqueBase-inst.h.

Friends And Related Function Documentation

◆ BayesTree< DerivedType >

template<class DERIVED , class FACTORGRAPH >

friend class BayesTree< DerivedType >

friend

Definition at line 191 of file BayesTreeCliqueBase.h.

Member Data Documentation

◆ cachedSeparatorMarginal_

template<class DERIVED , class FACTORGRAPH >

std::optional<FactorGraphType> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::cachedSeparatorMarginal_

mutableprotected

This stores the Cached separator marginal P(S)

Definition at line 105 of file BayesTreeCliqueBase.h.

◆ cachedSeparatorMarginalMutex_

template<class DERIVED , class FACTORGRAPH >

std::mutex gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::cachedSeparatorMarginalMutex_

mutableprotected

This protects Cached seperator marginal P(S) from concurrent read/writes as many the functions which access it are const (hence the mutable) leading to the false impression that these const functions are thread-safe which is not true due to these mutable values. This is fixed by applying this mutex.

Definition at line 110 of file BayesTreeCliqueBase.h.

◆ children

template<class DERIVED , class FACTORGRAPH >

FastVector<derived_ptr> gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::children

Definition at line 115 of file BayesTreeCliqueBase.h.

◆ conditional_

template<class DERIVED , class FACTORGRAPH >

sharedConditional gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::conditional_

Definition at line 113 of file BayesTreeCliqueBase.h.

◆ is_root

template<class DERIVED , class FACTORGRAPH >

bool gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::is_root = false

Definition at line 118 of file BayesTreeCliqueBase.h.

◆ parent_

template<class DERIVED , class FACTORGRAPH >

derived_weak_ptr gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::parent_

Definition at line 114 of file BayesTreeCliqueBase.h.

◆ problemSize_

template<class DERIVED , class FACTORGRAPH >

int gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::problemSize_

Definition at line 116 of file BayesTreeCliqueBase.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Types

Standard Constructors

Testable

Standard Interface

Advanced Interface

Detailed Description

template<class DERIVED, class FACTORGRAPH> class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >

Member Typedef Documentation

◆ BayesNetType

◆ ConditionalType

◆ derived_ptr

◆ derived_weak_ptr

◆ DerivedType

◆ Eliminate

◆ EliminationTraitsType

◆ FactorGraphType

◆ FactorType

◆ shared_ptr

◆ sharedConditional

◆ This

◆ weak_ptr

Constructor & Destructor Documentation

◆ BayesTreeCliqueBase() [1/3]

◆ BayesTreeCliqueBase() [2/3]

◆ BayesTreeCliqueBase() [3/3]

◆ ~BayesTreeCliqueBase()

Member Function Documentation

◆ cachedSeparatorMarginal()

◆ conditional() [1/2]

◆ conditional() [2/2]

◆ deleteCachedShortcuts()

◆ deleteCachedShortcutsNonRecursive()

◆ equals()

◆ isRoot()

◆ marginal2()

◆ nrChildren()

◆ numCachedSeparatorMarginals()

◆ operator=()

◆ operator[]()

◆ parent()

◆ print()

◆ problemSize()

◆ separator_setminus_B()

◆ separatorMarginal()

◆ setEliminationResult()

◆ shortcut()

◆ shortcut_indices()

◆ treeSize()

Friends And Related Function Documentation

◆ BayesTree< DerivedType >

Member Data Documentation

◆ cachedSeparatorMarginal_

◆ cachedSeparatorMarginalMutex_

◆ children

◆ conditional_

◆ is_root

◆ parent_

◆ problemSize_

template<class DERIVED, class FACTORGRAPH>
class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >