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GaussianEliminationTree.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/EliminationTree.h>
namespace gtsam {
class GTSAM_EXPORT GaussianEliminationTree :
public EliminationTree<GaussianBayesNet, GaussianFactorGraph>
{
public:
typedef EliminationTree<GaussianBayesNet, GaussianFactorGraph> Base;
typedef GaussianEliminationTree This;
typedef boost::shared_ptr<This> shared_ptr;
GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
const VariableIndex& structure, const Ordering& order);
GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
const Ordering& order);
bool equals(const This& other, double tol = 1e-9) const;
private:
friend class ::EliminationTreeTester;
};
}
EliminationTree.h
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
GaussianBayesNet.h
Chordal Bayes Net, the result of eliminating a factor graph.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::EliminationTree< GaussianBayesNet, GaussianFactorGraph >::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
gtsam::GaussianEliminationTree::This
GaussianEliminationTree This
This class.
Definition GaussianEliminationTree.h:32
gtsam::GaussianEliminationTree::Base
EliminationTree< GaussianBayesNet, GaussianFactorGraph > Base
Base class.
Definition GaussianEliminationTree.h:31
gtsam::GaussianEliminationTree::shared_ptr
boost::shared_ptr< This > shared_ptr
Shared pointer to this class.
Definition GaussianEliminationTree.h:33
gtsam::GaussianEliminationTree::equals
bool equals(const This &other, double tol=1e-9) const
Test whether the tree is equal to another.
Definition GaussianEliminationTree.cpp:39
gtsam::GaussianEliminationTree::GaussianEliminationTree
GaussianEliminationTree(const GaussianFactorGraph &factorGraph, const VariableIndex &structure, const Ordering &order)
Build the elimination tree of a factor graph using pre-computed column structure.
Definition GaussianEliminationTree.cpp:28
gtsam::GaussianFactorGraph
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition GaussianFactorGraph.h:75