gtsam 4.2.0
gtsam
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A Bayes tree representing a Discrete density.
Public Member Functions | |
Standard interface | |
DiscreteBayesTree () | |
Default constructor, creates an empty Bayes tree. | |
bool | equals (const This &other, double tol=1e-9) const |
Check equality. | |
double | evaluate (const DiscreteValues &values) const |
double | operator() (const DiscreteValues &values) const |
Wrapper support | |
std::string | markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const |
Render as markdown tables. | |
std::string | html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const |
Render as html tables. | |
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size_t | size () const |
number of cliques | |
bool | empty () const |
Check if there are any cliques in the tree. | |
const Nodes & | nodes () const |
Return nodes. More... | |
sharedClique | operator[] (Key j) const |
Access node by variable. | |
const Roots & | roots () const |
return root cliques | |
const sharedClique & | clique (Key j) const |
alternate syntax for matlab: find the clique that contains the variable with Key j | |
BayesTreeCliqueData | getCliqueData () const |
Gather data on all cliques. | |
size_t | numCachedSeparatorMarginals () const |
Collect number of cliques with cached separator marginals. | |
sharedConditional | marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
Return marginal on any variable. More... | |
sharedFactorGraph | joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root | |
sharedBayesNet | jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root | |
void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Output to graphviz format, stream version. | |
std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Output to graphviz format string. | |
void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
output to file with graphviz format. | |
Key | findParentClique (const CONTAINER &parents) const |
Find parent clique of a conditional. More... | |
void | clear () |
Remove all nodes. | |
void | deleteCachedShortcuts () |
Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data. | |
void | removePath (sharedClique clique, BayesNetType *bn, Cliques *orphans) |
Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. More... | |
void | removeTop (const KeyVector &keys, BayesNetType *bn, Cliques *orphans) |
Given a list of indices, turn "contaminated" part of the tree back into a factor graph. More... | |
Cliques | removeSubtree (const sharedClique &subtree) |
Remove the requested subtree. | |
void | insertRoot (const sharedClique &subtree) |
Insert a new subtree with known parent clique. More... | |
void | addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique()) |
add a clique (top down) | |
void | addFactorsToGraph (FactorGraph< FactorType > *graph) const |
Add all cliques in this BayesTree to the specified factor graph. | |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
print | |
Public Types | |
typedef DiscreteBayesTree | This |
typedef boost::shared_ptr< This > | shared_ptr |
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typedef DiscreteBayesTreeClique | Clique |
The clique type, normally BayesTreeClique. | |
typedef boost::shared_ptr< Clique > | sharedClique |
Shared pointer to a clique. | |
typedef Clique | Node |
Synonym for Clique (TODO: remove) | |
typedef sharedClique | sharedNode |
Synonym for sharedClique (TODO: remove) | |
typedef CLIQUE::ConditionalType | ConditionalType |
typedef boost::shared_ptr< ConditionalType > | sharedConditional |
typedef CLIQUE::BayesNetType | BayesNetType |
typedef boost::shared_ptr< BayesNetType > | sharedBayesNet |
typedef CLIQUE::FactorType | FactorType |
typedef boost::shared_ptr< FactorType > | sharedFactor |
typedef CLIQUE::FactorGraphType | FactorGraphType |
typedef boost::shared_ptr< FactorGraphType > | sharedFactorGraph |
typedef FactorGraphType::Eliminate | Eliminate |
typedef CLIQUE::EliminationTraitsType | EliminationTraitsType |
typedef FastList< sharedClique > | Cliques |
A convenience class for a list of shared cliques. | |
typedef ConcurrentMap< Key, sharedClique > | Nodes |
Map from keys to Clique. | |
typedef FastVector< sharedClique > | Roots |
Root cliques. | |
Additional Inherited Members | |
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typedef BayesTree< DiscreteBayesTreeClique > | This |
typedef boost::shared_ptr< This > | shared_ptr |
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This & | operator= (const This &other) |
Assignment operator. | |
BayesTree () | |
Create an empty Bayes Tree. | |
BayesTree (const This &other) | |
Copy constructor. | |
void | getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const |
Gather data on a single clique. | |
void | dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const |
private helper method for saving the Tree to a text file in GraphViz format | |
void | removeClique (sharedClique clique) |
remove a clique: warning, can result in a forest | |
void | fillNodesIndex (const sharedClique &subtree) |
Fill the nodes index for a subtree. | |
bool | equals (const This &other, double tol=1e-9) const |
check equality | |
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Nodes | nodes_ |
Map from indices to Clique. | |
Roots | roots_ |
Root cliques. | |