A Cluster is just a collection of factors. More...

#include <ClusterTree.h>

Public Types
typedef FastVector< std::shared_ptr< Cluster > >	Children

typedef Ordering	Keys

Public Member Functions
void	addChild (const std::shared_ptr< Cluster > &cluster)
	Add a child cluster. More...

template<class CONTAINER >
void	addFactors (Key key, const CONTAINER &factorsToAdd)
	Add factors associated with a single key. More...

	Cluster ()

template<class CONTAINER >
	Cluster (Key key, const CONTAINER &factorsToAdd)
	Construct from factors associated with a single key. More...

void	merge (const std::shared_ptr< Cluster > &cluster)
	Merge in given cluster. More...

void	mergeChildren (const std::vector< bool > &merge)
	Merge all children for which bit is set into this node. More...

size_t	nrChildren () const

size_t	nrFactors () const

size_t	nrFrontals () const

std::vector< size_t >	nrFrontalsOfChildren () const
	Return a vector with nrFrontal keys for each child. More...

const Cluster &	operator[] (size_t i) const

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

int	problemSize () const

virtual	~Cluster ()

Public Attributes
Children	children
	sub-trees More...

FactorGraphType	factors
	Factors associated with this node. More...

Keys	orderedFrontalKeys
	Frontal keys of this node. More...

int	problemSize_

Detailed Description

template<class GRAPH>
struct gtsam::ClusterTree< GRAPH >::Cluster

A Cluster is just a collection of factors.

Definition at line 36 of file ClusterTree.h.

Member Typedef Documentation

◆ Children

template<class GRAPH >

typedef FastVector<std::shared_ptr<Cluster> > gtsam::ClusterTree< GRAPH >::Cluster::Children

Definition at line 37 of file ClusterTree.h.

◆ Keys

template<class GRAPH >

typedef Ordering gtsam::ClusterTree< GRAPH >::Cluster::Keys

Definition at line 40 of file ClusterTree.h.

Constructor & Destructor Documentation

◆ Cluster() [1/2]

template<class GRAPH >

gtsam::ClusterTree< GRAPH >::Cluster::Cluster ( )

inline

Definition at line 47 of file ClusterTree.h.

◆ ~Cluster()

template<class GRAPH >

virtual gtsam::ClusterTree< GRAPH >::Cluster::~Cluster ( )

inlinevirtual

Definition at line 49 of file ClusterTree.h.

◆ Cluster() [2/2]

template<class GRAPH >

template<class CONTAINER >

gtsam::ClusterTree< GRAPH >::Cluster::Cluster	(	Key	key,
		const CONTAINER &	factorsToAdd
	)

inline

Construct from factors associated with a single key.

Definition at line 57 of file ClusterTree.h.

Member Function Documentation

◆ addChild()

template<class GRAPH >

void gtsam::ClusterTree< GRAPH >::Cluster::addChild ( const std::shared_ptr< Cluster > & cluster )

inline

Add a child cluster.

Definition at line 71 of file ClusterTree.h.

◆ addFactors()

template<class GRAPH >

template<class CONTAINER >

void gtsam::ClusterTree< GRAPH >::Cluster::addFactors	(	Key	key,
		const CONTAINER &	factorsToAdd
	)

inline

Add factors associated with a single key.

Definition at line 64 of file ClusterTree.h.

◆ merge()

template<class GRAPH >

void gtsam::ClusterTree< GRAPH >::Cluster::merge ( const std::shared_ptr< Cluster > & cluster )

Merge in given cluster.

Definition at line 46 of file ClusterTree-inst.h.

◆ mergeChildren()

template<class GRAPH >

void gtsam::ClusterTree< GRAPH >::Cluster::mergeChildren ( const std::vector< bool > & merge )

Merge all children for which bit is set into this node.

Definition at line 58 of file ClusterTree-inst.h.

◆ nrChildren()

template<class GRAPH >

size_t gtsam::ClusterTree< GRAPH >::Cluster::nrChildren ( ) const

inline

Definition at line 76 of file ClusterTree.h.

◆ nrFactors()

template<class GRAPH >

size_t gtsam::ClusterTree< GRAPH >::Cluster::nrFactors ( ) const

inline

Definition at line 80 of file ClusterTree.h.

◆ nrFrontals()

template<class GRAPH >

size_t gtsam::ClusterTree< GRAPH >::Cluster::nrFrontals ( ) const

inline

Definition at line 84 of file ClusterTree.h.

◆ nrFrontalsOfChildren()

template<class GRAPH >

std::vector< size_t > gtsam::ClusterTree< GRAPH >::Cluster::nrFrontalsOfChildren

Return a vector with nrFrontal keys for each child.

Definition at line 36 of file ClusterTree-inst.h.

◆ operator[]()

template<class GRAPH >

const Cluster& gtsam::ClusterTree< GRAPH >::Cluster::operator[] ( size_t i ) const

inline

Definition at line 51 of file ClusterTree.h.

◆ print()

template<class GRAPH >

void gtsam::ClusterTree< GRAPH >::Cluster::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

virtual

print this node

Definition at line 28 of file ClusterTree-inst.h.

◆ problemSize()

template<class GRAPH >

int gtsam::ClusterTree< GRAPH >::Cluster::problemSize ( ) const

inline

Definition at line 88 of file ClusterTree.h.

Member Data Documentation

◆ children

template<class GRAPH >

Children gtsam::ClusterTree< GRAPH >::Cluster::children

sub-trees

Definition at line 38 of file ClusterTree.h.

◆ factors

template<class GRAPH >

FactorGraphType gtsam::ClusterTree< GRAPH >::Cluster::factors

Factors associated with this node.

Definition at line 43 of file ClusterTree.h.

◆ orderedFrontalKeys

template<class GRAPH >

Keys gtsam::ClusterTree< GRAPH >::Cluster::orderedFrontalKeys

Frontal keys of this node.

Definition at line 41 of file ClusterTree.h.

◆ problemSize_

template<class GRAPH >

int gtsam::ClusterTree< GRAPH >::Cluster::problemSize_

Definition at line 45 of file ClusterTree.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<class GRAPH> struct gtsam::ClusterTree< GRAPH >::Cluster

Member Typedef Documentation

◆ Children

◆ Keys

Constructor & Destructor Documentation

◆ Cluster() [1/2]

◆ ~Cluster()

◆ Cluster() [2/2]

Member Function Documentation

◆ addChild()

◆ addFactors()

◆ merge()

◆ mergeChildren()

◆ nrChildren()

◆ nrFactors()

◆ nrFrontals()

◆ nrFrontalsOfChildren()

◆ operator[]()

◆ print()

◆ problemSize()

Member Data Documentation

◆ children

◆ factors

◆ orderedFrontalKeys

◆ problemSize_

template<class GRAPH>
struct gtsam::ClusterTree< GRAPH >::Cluster