gtsam 4.2.0
gtsam
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An 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 analogous to the EliminationTree, except that in the JunctionTree, at each node multiple variables are eliminated at a time.
Public Member Functions | |
HybridJunctionTree (const HybridEliminationTree &eliminationTree) | |
Build the elimination tree of a factor graph using precomputed column structure. | |
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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. | |
const FastVector< sharedFactor > & | remainingFactors () const |
Return the remaining factors that are not pulled into elimination. | |
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ClusterTree () | |
Default constructor. | |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Print the cluster tree. | |
void | addRoot (const boost::shared_ptr< Cluster > &cluster) |
void | addChildrenAsRoots (const boost::shared_ptr< Cluster > &cluster) |
size_t | nrRoots () const |
const FastVector< sharedNode > & | roots () const |
Return the set of roots (one for a tree, multiple for a forest) | |
const Cluster & | operator[] (size_t i) const |
Public Types | |
typedef JunctionTree< HybridBayesTree, HybridGaussianFactorGraph > | Base |
Base class. | |
typedef HybridJunctionTree | This |
This class. | |
typedef boost::shared_ptr< This > | shared_ptr |
Shared pointer to this class. | |
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typedef JunctionTree< HybridBayesTree, HybridGaussianFactorGraph > | This |
This class. | |
typedef boost::shared_ptr< This > | shared_ptr |
Shared pointer to this class. | |
typedef EliminatableClusterTree< HybridBayesTree, HybridGaussianFactorGraph > | Base |
Our base class. | |
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typedef BAYESTREE | BayesTreeType |
The BayesTree type produced by elimination. | |
typedef GRAPH | FactorGraphType |
The factor graph type. | |
typedef EliminatableClusterTree< BAYESTREE, GRAPH > | This |
This class. | |
typedef boost::shared_ptr< This > | shared_ptr |
Shared pointer to this class. | |
typedef BAYESTREE::ConditionalType | ConditionalType |
The type of conditionals. | |
typedef boost::shared_ptr< ConditionalType > | sharedConditional |
Shared pointer to a conditional. | |
typedef GRAPH::Eliminate | Eliminate |
Typedef for an eliminate subroutine. | |
typedef GRAPH::FactorType | FactorType |
The type of factors. | |
typedef boost::shared_ptr< FactorType > | sharedFactor |
Shared pointer to a factor. | |
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typedef GRAPH | FactorGraphType |
The factor graph type. | |
typedef ClusterTree< GRAPH > | This |
This class. | |
typedef boost::shared_ptr< This > | shared_ptr |
Shared pointer to this class. | |
typedef GRAPH::FactorType | FactorType |
The type of factors. | |
typedef boost::shared_ptr< FactorType > | sharedFactor |
Shared pointer to a factor. | |
typedef boost::shared_ptr< Cluster > | sharedCluster |
Shared pointer to Cluster. | |
typedef Cluster | Node |
typedef sharedCluster | sharedNode |
Additional Inherited Members | |
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JunctionTree (const EliminationTree< ETREE_BAYESNET, ETREE_GRAPH > &eliminationTree) | |
Build the junction tree from an elimination tree. | |
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EliminatableClusterTree (const This &other) | |
Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned. | |
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. | |
EliminatableClusterTree () | |
Default constructor to be used in derived classes. | |
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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. | |
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. | |
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static This | FromEliminationTree (const ETREE &eliminationTree) |
Build the junction tree from an elimination tree. | |
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FastVector< sharedFactor > | remainingFactors_ |
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FastVector< sharedNode > | roots_ |
concept check | |
gtsam::HybridJunctionTree::HybridJunctionTree | ( | const HybridEliminationTree & | eliminationTree | ) |
Build the elimination tree of a factor graph using precomputed column structure.
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. |