gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph > Class Template Reference

#include <NestedDissection.h>

Public Types
typedef std::shared_ptr< SubNLG >	sharedSubNLG

Public Member Functions
	NestedDissection (const NLG &fg, const Ordering &ordering, const int numNodeStopPartition, const int minNodesPerMap, const bool verbose=false)
	NestedDissection (const NLG &fg, const Ordering &ordering, const std::shared_ptr< Cuts > &cuts, const bool verbose=false)
sharedSubNLG	root () const

Private Member Functions
NLG	collectOriginalFactors (const GenericGraph &gfg, const GenericUnaryGraph &unaryFactors) const
sharedSubNLG	makeSubNLG (const NLG &fg, const std::vector< size_t > &frontals, const std::vector< size_t > &sep, const std::shared_ptr< SubNLG > &parent) const
void	partitionFactorsAndVariables (const GenericGraph &fg, const GenericUnaryGraph &unaryFactors, const std::vector< size_t > &keys, const std::vector< int > &partitionTable, const int numSubmaps, std::vector< GenericGraph > &frontalFactors, vector< GenericUnaryGraph > &frontalUnaryFactors, NLG &sepFactors, std::vector< std::vector< size_t > > &childFrontals, std::vector< std::vector< size_t > > &childSeps, std::vector< size_t > &localFrontals, typename SubNLG::Weeklinks &weeklinks) const
void	processFactor (const typename GenericGraph::value_type &factor, const std::vector< int > &partitionTable, std::vector< GenericGraph > &frontalFactors, NLG &sepFactors, std::vector< std::set< size_t > > &childSeps, typename SubNLG::Weeklinks &weeklinks) const
sharedSubNLG	recursivePartition (const GenericGraph &gfg, const GenericUnaryGraph &unaryFactors, const std::vector< size_t > &frontals, const std::vector< size_t > &sep, const int numNodeStopPartition, const int minNodesPerMap, const std::shared_ptr< SubNLG > &parent, WorkSpace &workspace, const bool verbose) const
sharedSubNLG	recursivePartition (const GenericGraph &gfg, const GenericUnaryGraph &unaryFactors, const std::vector< size_t > &frontals, const std::vector< size_t > &sep, const std::shared_ptr< Cuts > &cuts, const std::shared_ptr< SubNLG > &parent, WorkSpace &workspace, const bool verbose) const

Private Attributes
NLG	fg_
std::vector< Symbol >	int2symbol_
Ordering	ordering_
sharedSubNLG	root_

Detailed Description

template<class NLG, class SubNLG, class GenericGraph>
class gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >

Apply nested dissection algorithm to nonlinear factor graphs

Definition at line 21 of file NestedDissection.h.

Member Typedef Documentation

sharedSubNLG

template<class NLG , class SubNLG , class GenericGraph >

typedef std::shared_ptr<SubNLG> gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::sharedSubNLG

Definition at line 23 of file NestedDissection.h.

Constructor & Destructor Documentation

NestedDissection() [1/2]

template<class NLG , class SubNLG , class GenericGraph >

gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::NestedDissection	(	const NLG &	fg,
		const Ordering &	ordering,
		const int	numNodeStopPartition,
		const int	minNodesPerMap,
		const bool	verbose = false
	)

Definition at line 20 of file NestedDissection-inl.h.

NestedDissection() [2/2]

template<class NLG , class SubNLG , class GenericGraph >

gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::NestedDissection	(	const NLG &	fg,
		const Ordering &	ordering,
		const std::shared_ptr< Cuts > &	cuts,
		const bool	verbose = false
	)

Definition at line 43 of file NestedDissection-inl.h.

Member Function Documentation

collectOriginalFactors()

template<class NLG , class SubNLG , class GenericGraph >

NLG gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::collectOriginalFactors ( const GenericGraph &  gfg, const GenericUnaryGraph &  unaryFactors  ) const

private

Definition at line 157 of file NestedDissection-inl.h.

makeSubNLG()

template<class NLG , class SubNLG , class GenericGraph >

std::shared_ptr< SubNLG > gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::makeSubNLG ( const NLG &  fg, const std::vector< size_t > &  frontals, const std::vector< size_t > &  sep, const std::shared_ptr< SubNLG > &  parent  ) const

private

Definition at line 65 of file NestedDissection-inl.h.

partitionFactorsAndVariables()

template<class NLG , class SubNLG , class GenericGraph >

void gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::partitionFactorsAndVariables ( const GenericGraph &  fg, const GenericUnaryGraph &  unaryFactors, const std::vector< size_t > &  keys, const std::vector< int > &  partitionTable, const int  numSubmaps, std::vector< GenericGraph > &  frontalFactors, vector< GenericUnaryGraph > &  frontalUnaryFactors, NLG &  sepFactors, std::vector< std::vector< size_t > > &  childFrontals, std::vector< std::vector< size_t > > &  childSeps, std::vector< size_t > &  localFrontals, typename SubNLG::Weeklinks &  weeklinks  ) const

private

given a factor graph and its partition {nodeMap}, split the factors between the child cliques ({frontalFactors}) and the current clique ({sepFactors}). Also split the variables between the child cliques ({childFrontals}) and the current clique ({localFrontals}). Those separator variables involved in {frontalFactors} are put into the correspoding ordering in {childSeps}.

Definition at line 117 of file NestedDissection-inl.h.

processFactor()

template<class NLG , class SubNLG , class GenericGraph >

void gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::processFactor ( const typename GenericGraph::value_type &  factor, const std::vector< int > &  partitionTable, std::vector< GenericGraph > &  frontalFactors, NLG &  sepFactors, std::vector< std::set< size_t > > &  childSeps, typename SubNLG::Weeklinks &  weeklinks  ) const

private

Definition at line 80 of file NestedDissection-inl.h.

recursivePartition() [1/2]

template<class NLG , class SubNLG , class GenericGraph >

std::shared_ptr< SubNLG > gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::recursivePartition ( const GenericGraph &  gfg, const GenericUnaryGraph &  unaryFactors, const std::vector< size_t > &  frontals, const std::vector< size_t > &  sep, const int  numNodeStopPartition, const int  minNodesPerMap, const std::shared_ptr< SubNLG > &  parent, WorkSpace &  workspace, const bool  verbose  ) const

private

Definition at line 169 of file NestedDissection-inl.h.

recursivePartition() [2/2]

template<class NLG , class SubNLG , class GenericGraph >

std::shared_ptr< SubNLG > gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::recursivePartition ( const GenericGraph &  gfg, const GenericUnaryGraph &  unaryFactors, const std::vector< size_t > &  frontals, const std::vector< size_t > &  sep, const std::shared_ptr< Cuts > &  cuts, const std::shared_ptr< SubNLG > &  parent, WorkSpace &  workspace, const bool  verbose  ) const

private

Definition at line 213 of file NestedDissection-inl.h.

root()

template<class NLG , class SubNLG , class GenericGraph >

sharedSubNLG gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::root ( ) const

inline

Definition at line 32 of file NestedDissection.h.

Member Data Documentation

fg_

template<class NLG , class SubNLG , class GenericGraph >

NLG gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::fg_

private

Definition at line 26 of file NestedDissection.h.

int2symbol_

template<class NLG , class SubNLG , class GenericGraph >

std::vector<Symbol> gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::int2symbol_

private

Definition at line 28 of file NestedDissection.h.

ordering_

template<class NLG , class SubNLG , class GenericGraph >

Ordering gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::ordering_

private

Definition at line 27 of file NestedDissection.h.

root_

template<class NLG , class SubNLG , class GenericGraph >

sharedSubNLG gtsam::partition::NestedDissection< NLG, SubNLG, GenericGraph >::root_

private

Definition at line 29 of file NestedDissection.h.

---

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

• NestedDissection.h
• NestedDissection-inl.h