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26 template<
class BAYESTREE>
31 const KeySet newFactorKeys = newFactors.keys();
33 KeyVector keyVector(newFactorKeys.begin(), newFactorKeys.end());
34 this->removeTop(keyVector, &bn, orphans);
44 factors.template emplace_shared<BayesTreeOrphanWrapper<Clique> >(orphan);
49 KeyVector(newFactorKeys.begin(), newFactorKeys.end()));
55 this->roots_.insert(this->roots_.end(), bayesTree->roots().begin(),
56 bayesTree->roots().end());
57 this->nodes_.insert(bayesTree->nodes().begin(), bayesTree->nodes().end());
61 template<
class BAYESTREE>
65 this->updateInternal(newFactors, &orphans,
function);
static Ordering ColamdConstrainedLast(const FACTOR_GRAPH &graph, const KeyVector &constrainLast, bool forceOrder=false)
HybridBayesTreeClique ::FactorGraphType FactorGraphType
FactorGraphType::Eliminate Eliminate
const GaussianFactorGraph factors
Incremental update functionality (iSAM) for BayesTree.
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
std::shared_ptr< BayesTreeType > eliminateMultifrontal(OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const
HybridBayesTreeClique ::BayesNetType BayesNetType
static enum @1096 ordering
void updateInternal(const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
std::shared_ptr< Clique > sharedClique
Shared pointer to a clique.
void update(const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
gtsam
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autogenerated on Sun Dec 22 2024 04:11:45