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HybridEliminationTree.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/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/inference/EliminationTree.h>
namespace gtsam {
class GTSAM_EXPORT HybridEliminationTree
: public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {
private:
friend class ::EliminationTreeTester;
public:
typedef EliminationTree<HybridBayesNet, HybridGaussianFactorGraph>
Base;
typedef HybridEliminationTree This;
typedef boost::shared_ptr<This> shared_ptr;
HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
const VariableIndex& structure, const Ordering& order);
HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
const Ordering& order);
bool equals(const This& other, double tol = 1e-9) const;
};
} // namespace gtsam
HybridBayesNet.h
A Bayes net of Gaussian Conditionals indexed by discrete keys.
HybridGaussianFactorGraph.h
Linearized Hybrid factor graph that uses type erasure.
EliminationTree.h
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::HybridEliminationTree::equals
bool equals(const This &other, double tol=1e-9) const
Test whether the tree is equal to another.
Definition HybridEliminationTree.cpp:38
gtsam::HybridEliminationTree::This
HybridEliminationTree This
This class.
Definition HybridEliminationTree.h:39
gtsam::HybridEliminationTree::shared_ptr
boost::shared_ptr< This > shared_ptr
Shared pointer to this class.
Definition HybridEliminationTree.h:40
gtsam::HybridEliminationTree::HybridEliminationTree
HybridEliminationTree(const HybridGaussianFactorGraph &factorGraph, const VariableIndex &structure, const Ordering &order)
Build the elimination tree of a factor graph using pre-computed column structure.
Definition HybridEliminationTree.cpp:27
gtsam::HybridEliminationTree::Base
EliminationTree< HybridBayesNet, HybridGaussianFactorGraph > Base
Base class.
Definition HybridEliminationTree.h:38
gtsam::HybridGaussianFactorGraph
Definition HybridGaussianFactorGraph.h:102
gtsam::EliminationTree< HybridBayesNet, HybridGaussianFactorGraph >::EliminationTree
EliminationTree(const FactorGraphType &factorGraph, const VariableIndex &structure, const Ordering &order)
gtsam::Ordering
Definition Ordering.h:34
gtsam::VariableIndex
The VariableIndex class computes and stores the block column structure of a factor graph.
Definition VariableIndex.h:43