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gtsam
3.2.1
gtsam
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gtsam
3.2.1
gtsam
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Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation.
Inheritance diagram for gtsam::ISAM2Clique:Public Member Functions | |
| ISAM2Clique () | |
| Default constructor. | |
| ISAM2Clique (const ISAM2Clique &other) | |
| Copy constructor, does not copy solution pointers as these are invalid in different trees. | |
| ISAM2Clique & | operator= (const ISAM2Clique &other) |
| Assignment operator, does not copy solution pointers as these are invalid in different trees. | |
| void | setEliminationResult (const FactorGraphType::EliminationResult &eliminationResult) |
| Overridden to also store the remaining factor and gradient contribution. | |
| Base::FactorType::shared_ptr & | cachedFactor () |
| Access the cached factor. | |
| const Vector & | gradientContribution () const |
| Access the gradient contribution. | |
| bool | equals (const This &other, double tol=1e-9) const |
| void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print this node | |
| Public Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| void | setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult) |
| Fill the elimination result produced during elimination. More... | |
| bool | equals (const ISAM2Clique &other, double tol=1e-9) const |
| check equality | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| print this node | |
| const sharedConditional & | conditional () const |
| Access the conditional. | |
| bool | isRoot () const |
| is this the root of a Bayes tree ? | |
| size_t | treeSize () const |
| The size of subtree rooted at this clique, i.e., nr of Cliques. | |
| size_t | numCachedSeparatorMarginals () const |
| Collect number of cliques with cached separator marginals. | |
| derived_ptr | parent () const |
| return a shared_ptr to the parent clique | |
| int | problemSize () const |
| Problem size (used for parallel traversal) | |
| BayesNetType | shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the conditional P(S|Root) on the separator given the root | |
| FactorGraphType | separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the marginal P(S) on the separator | |
| FactorGraphType | marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the marginal P(C) of the clique, using marginal caching | |
| void | deleteCachedShortcuts () |
| This deletes the cached shortcuts of all cliques (subtree) below this clique. More... | |
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const boost::optional < FactorGraphType > & | cachedSeparatorMarginal () const |
Public Attributes | |
| Base::FactorType::shared_ptr | cachedFactor_ |
| Vector | gradientContribution_ |
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FastMap< Key, VectorValues::iterator > | solnPointers_ |
| Public Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| sharedConditional | conditional_ |
| derived_weak_ptr | parent_ |
| FastVector< derived_ptr > | children |
| int | problemSize_ |
Public Types | |
| typedef ISAM2Clique | This |
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typedef BayesTreeCliqueBase < This, GaussianFactorGraph > | Base |
| typedef boost::shared_ptr< This > | shared_ptr |
| typedef boost::weak_ptr< This > | weak_ptr |
| typedef GaussianConditional | ConditionalType |
| typedef ConditionalType::shared_ptr | sharedConditional |
| Public Types inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| typedef GaussianFactorGraph | FactorGraphType |
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typedef EliminationTraitsType::BayesNetType | BayesNetType |
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typedef BayesNetType::ConditionalType | ConditionalType |
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typedef boost::shared_ptr < ConditionalType > | sharedConditional |
| typedef FactorGraphType::FactorType | FactorType |
| typedef FactorGraphType::Eliminate | Eliminate |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| BayesTreeCliqueBase () | |
| Default constructor. | |
| BayesTreeCliqueBase (const sharedConditional &conditional) | |
| Construct from a conditional, leaving parent and child pointers uninitialized. | |
| FastVector< Key > | separator_setminus_B (const derived_ptr &B) const |
| Calculate set \( S \setminus B \) for shortcut calculations. | |
| FastVector< Key > | shortcut_indices (const derived_ptr &B, const FactorGraphType &p_Cp_B) const |
| Determine variable indices to keep in recursive separator shortcut calculation The factor graph p_Cp_B has keys from the parent clique Cp and from B. More... | |
| void | deleteCachedShortcutsNonRecursive () |
| Non-recursive delete cached shortcuts and marginals - internal only. More... | |
| Protected Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| boost::optional< FactorGraphType > | cachedSeparatorMarginal_ |
| This stores the Cached separator margnal P(S) | |
1.8.6 
