#include <SymbolicJunctionTree.h>
Public Member Functions | |
| SymbolicJunctionTree (const SymbolicEliminationTree &eliminationTree) | |
 Public Member Functions inherited from gtsam::EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > > | eliminate (const Eliminate &function) const |
| const FastVector< sharedFactor > & | remainingFactors () const |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::JunctionTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| JunctionTree () | |
| JunctionTree (const EliminationTree< ETREE_BAYESNET, ETREE_GRAPH > &eliminationTree) | |
| Protected Member Functions inherited from gtsam::EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| EliminatableClusterTree (const This &other) | |
| EliminatableClusterTree () | |
| Default constructor to be used in derived classes. More... | |
| This & | operator= (const This &other) |
| Static Protected Member Functions inherited from gtsam::JunctionTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| static This | FromEliminationTree (const ETREE &eliminationTree) |
| Protected Attributes inherited from gtsam::EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph > | |
| FastVector< sharedFactor > | remainingFactors_ |
Detailed Description
A EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree, with the additional property that it represents the clique tree associated with a Bayes net.
In GTSAM a junction tree is an intermediate data structure in multifrontal variable elimination. Each node is a cluster of factors, along with a clique of variables that are eliminated all at once. In detail, every node k represents a clique (maximal fully connected subset) of an associated chordal graph, such as a chordal Bayes net resulting from elimination.
The difference with the BayesTree is that a JunctionTree stores factors, whereas a BayesTree stores conditionals, that are the product of eliminating the factors in the corresponding JunctionTree cliques.
The tree structure and elimination method are exactly analagous to the EliminationTree, except that in the JunctionTree, at each node multiple variables are eliminated at a time.
Definition at line 50 of file SymbolicJunctionTree.h.
Member Typedef Documentation
◆ Base
Base class.
Definition at line 53 of file SymbolicJunctionTree.h.
◆ shared_ptr
| typedef std::shared_ptr<This> gtsam::SymbolicJunctionTree::shared_ptr |
Shared pointer to this class.
Definition at line 55 of file SymbolicJunctionTree.h.
◆ This
This class.
Definition at line 54 of file SymbolicJunctionTree.h.
Constructor & Destructor Documentation
◆ SymbolicJunctionTree()
| gtsam::SymbolicJunctionTree::SymbolicJunctionTree | ( | const SymbolicEliminationTree & | eliminationTree | ) |
Build the elimination tree of a factor graph using pre-computed column structure.
- Parameters
-
factorGraph The factor graph for which to build the elimination tree structure The set of factors involving each variable. If this is not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&) named constructor instead.
- Returns
- The elimination tree
Definition at line 30 of file SymbolicJunctionTree.cpp.
The documentation for this class was generated from the following files: