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GaussianBayesTree.h
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#pragma once
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>
namespace gtsam {
// Forward declarations
class GaussianConditional;
class VectorValues;
/* ************************************************************************* */
class GTSAM_EXPORT GaussianBayesTreeClique :
public BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>
{
public:
typedef GaussianBayesTreeClique This;
typedef BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph> Base;
typedef boost::shared_ptr<This> shared_ptr;
typedef boost::weak_ptr<This> weak_ptr;
GaussianBayesTreeClique() {}
virtual ~GaussianBayesTreeClique() {}
GaussianBayesTreeClique(const boost::shared_ptr<GaussianConditional>& conditional) : Base(conditional) {}
};
/* ************************************************************************* */
class GTSAM_EXPORT GaussianBayesTree :
public BayesTree<GaussianBayesTreeClique>
{
private:
typedef BayesTree<GaussianBayesTreeClique> Base;
public:
typedef GaussianBayesTree This;
typedef boost::shared_ptr<This> shared_ptr;
GaussianBayesTree() {}
bool equals(const This& other, double tol = 1e-9) const;
VectorValues optimize() const;
VectorValues optimizeGradientSearch() const;
VectorValues gradient(const VectorValues& x0) const;
VectorValues gradientAtZero() const;
double error(const VectorValues& x) const;
double determinant() const;
double logDeterminant() const;
Matrix marginalCovariance(Key key) const;
};
template<>
struct traits<GaussianBayesTree> : public Testable<GaussianBayesTree> {
};
} //\ namespace gtsam
BayesTreeCliqueBase.h
Base class for cliques of a BayesTree.
BayesTree.h
Bayes Tree is a tree of cliques of a Bayes Chain.
GaussianBayesNet.h
Chordal Bayes Net, the result of eliminating a factor graph.
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::optimize
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
Optimize for triangulation.
Definition triangulation.cpp:155
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
gtsam::equals
Template to create a binary predicate.
Definition Testable.h:111
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
gtsam::BayesTree< GaussianBayesTreeClique >::BayesTree
BayesTree()
Definition BayesTree.h:109
gtsam::BayesTreeCliqueBase< GaussianBayesTreeClique, GaussianFactorGraph >::BayesTreeCliqueBase
BayesTreeCliqueBase()
Definition BayesTreeCliqueBase.h:74
gtsam::BayesTreeCliqueBase< GaussianBayesTreeClique, GaussianFactorGraph >::conditional
const sharedConditional & conditional() const
Definition BayesTreeCliqueBase.h:141
gtsam::GaussianBayesTree
A Bayes tree representing a Gaussian density.
Definition GaussianBayesTree.h:52
gtsam::GaussianBayesTree::GaussianBayesTree
GaussianBayesTree()
Default constructor, creates an empty Bayes tree.
Definition GaussianBayesTree.h:61
gtsam::GaussianConditional
A GaussianConditional functions as the node in a Bayes network.
Definition GaussianConditional.h:43
gtsam::VectorValues
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition VectorValues.h:74