gtsam::ClusterTree< BAYESTREE, GRAPH > Class Template Reference

Detailed Description

template<class BAYESTREE, class GRAPH>
class gtsam::ClusterTree< BAYESTREE, GRAPH >

A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: each node k represents a subset \( C_k \sub X \), and the tree is family preserving, in that each factor \( f_i \) is associated with a single cluster and \( scope(f_i) \sub C_k \).

Inheritance diagram for gtsam::ClusterTree< BAYESTREE, GRAPH >:

Standard Constructors
	ClusterTree (const This &other)
	Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned. More...

Testable
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print the cluster tree.

Standard Interface
std::pair< boost::shared_ptr < BayesTreeType > , boost::shared_ptr < FactorGraphType > >	eliminate (const Eliminate &function) const
	Eliminate the factors to a Bayes tree and remaining factor graph. More...

Advanced Interface
const FastVector< sharedNode > &	roots () const
	Return the set of roots (one for a tree, multiple for a forest)
const FastVector< sharedFactor > &	remainingFactors () const
	Return the remaining factors that are not pulled into elimination.

Details
This &	operator= (const This &other)
	Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned. More...
	ClusterTree ()
	Default constructor to be used in derived classes.

Public Member Functions
	GTSAM_CONCEPT_TESTABLE_TYPE (FactorType)
	concept check

Public Types
typedef GRAPH	FactorGraphType
	The factor graph type.
typedef GRAPH::FactorType	FactorType
	The type of factors.
typedef ClusterTree< BAYESTREE, GRAPH >	This
	This class.
typedef boost::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
typedef boost::shared_ptr < FactorType >	sharedFactor
	Shared pointer to a factor.
typedef BAYESTREE	BayesTreeType
	The BayesTree type produced by elimination.
typedef BayesTreeType::ConditionalType	ConditionalType
	The type of conditionals.
typedef boost::shared_ptr < ConditionalType >	sharedConditional
	Shared pointer to a conditional.
typedef FactorGraphType::Eliminate	Eliminate
	Typedef for an eliminate subroutine.
typedef boost::shared_ptr < Cluster >	sharedCluster
	Shared pointer to Cluster.
typedef Cluster	Node
	Define Node=Cluster for compatibility with tree traversal functions.
typedef sharedCluster	sharedNode
	Define Node=Cluster for compatibility with tree traversal functions.

Classes
struct	Cluster

Protected Attributes
FastVector< sharedNode >	roots_
FastVector< sharedFactor >	remainingFactors_

Constructor & Destructor Documentation

template<class BAYESTREE, class GRAPH>

gtsam::ClusterTree< BAYESTREE, GRAPH >::ClusterTree ( const This &  other )

inlineprotected

Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.

Member Function Documentation

template<class BAYESTREE , class GRAPH >

std::pair< boost::shared_ptr< BAYESTREE >, boost::shared_ptr< GRAPH > > gtsam::ClusterTree< BAYESTREE, GRAPH >::eliminate

(

const Eliminate &

function

)

const

Eliminate the factors to a Bayes tree and remaining factor graph.

Parameters

function

The function to use to eliminate, see the namespace functions in GaussianFactorGraph.h

Returns

The Bayes tree and factor graph resulting from elimination

template<class BAYESTREE , class GRAPH >

ClusterTree< BAYESTREE, GRAPH > & gtsam::ClusterTree< BAYESTREE, GRAPH >::operator= ( const This &  other )

protected

Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.

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

• /home/cbeall3/git/gtsam/gtsam/inference/BayesTree.h
• /home/cbeall3/git/gtsam/gtsam/inference/ClusterTree.h
• /home/cbeall3/git/gtsam/gtsam/inference/ClusterTree-inst.h