gtsam 4.2.0
gtsam
Loading...
Searching...
No Matches
ClusterTree.h
Go to the documentation of this file.
1
10#pragma once
11
12#include <gtsam/base/Testable.h>
15
16namespace gtsam {
17
24template <class GRAPH>
26 public:
27 typedef GRAPH FactorGraphType;
29 typedef boost::shared_ptr<This> shared_ptr;
30
31 typedef typename GRAPH::FactorType FactorType;
32 typedef boost::shared_ptr<FactorType> sharedFactor;
33
35 // TODO(frank): re-factor JunctionTree so we can make members private
36 struct Cluster {
38 Children children;
39
40 typedef Ordering Keys;
42
44
45 int problemSize_;
46
47 Cluster() : problemSize_(0) {}
48
49 virtual ~Cluster() {}
50
51 const Cluster& operator[](size_t i) const {
52 return *(children[i]);
53 }
54
56 template <class CONTAINER>
57 Cluster(Key key, const CONTAINER& factorsToAdd)
58 : problemSize_(0) {
59 addFactors(key, factorsToAdd);
60 }
61
63 template <class CONTAINER>
64 void addFactors(Key key, const CONTAINER& factorsToAdd) {
65 orderedFrontalKeys.push_back(key);
66 factors.push_back(factorsToAdd);
67 problemSize_ += factors.size();
68 }
69
71 void addChild(const boost::shared_ptr<Cluster>& cluster) {
72 children.push_back(cluster);
73 problemSize_ = std::max(problemSize_, cluster->problemSize_);
74 }
75
76 size_t nrChildren() const {
77 return children.size();
78 }
79
80 size_t nrFactors() const {
81 return factors.size();
82 }
83
84 size_t nrFrontals() const {
85 return orderedFrontalKeys.size();
86 }
87
88 int problemSize() const {
89 return problemSize_;
90 }
91
93 virtual void print(const std::string& s = "",
94 const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
95
97 std::vector<size_t> nrFrontalsOfChildren() const;
98
100 void merge(const boost::shared_ptr<Cluster>& cluster);
101
103 void mergeChildren(const std::vector<bool>& merge);
104 };
105
106 typedef boost::shared_ptr<Cluster> sharedCluster;
107
108 // Define Node=Cluster for compatibility with tree traversal functions
109 typedef Cluster Node;
110 typedef sharedCluster sharedNode;
111
113 GTSAM_CONCEPT_TESTABLE_TYPE(FactorType)
114
115 protected:
117
120
123 ClusterTree(const This& other) {
124 *this = other;
125 }
126
128
129 public:
130
133
136
138 void print(const std::string& s = "",
139 const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
140
144
145 void addRoot(const boost::shared_ptr<Cluster>& cluster) {
146 roots_.push_back(cluster);
147 }
148
149 void addChildrenAsRoots(const boost::shared_ptr<Cluster>& cluster) {
150 for (auto child : cluster->children)
151 this->addRoot(child);
152 }
153
154 size_t nrRoots() const {
155 return roots_.size();
156 }
157
160 return roots_;
161 }
162
163 const Cluster& operator[](size_t i) const {
164 return *(roots_[i]);
165 }
166
168
169 protected:
172
175 This& operator=(const This& other);
176
178};
179
183template <class BAYESTREE, class GRAPH>
185 public:
186 typedef BAYESTREE BayesTreeType;
187 typedef GRAPH FactorGraphType;
189 typedef boost::shared_ptr<This> shared_ptr;
190
191 typedef typename BAYESTREE::ConditionalType ConditionalType;
192 typedef boost::shared_ptr<ConditionalType>
194
195 typedef typename GRAPH::Eliminate Eliminate;
196 typedef typename GRAPH::FactorType FactorType;
197 typedef boost::shared_ptr<FactorType> sharedFactor;
198
199 protected:
200 FastVector<sharedFactor> remainingFactors_;
201
204
207 EliminatableClusterTree(const This& other) : ClusterTree<GRAPH>(other) {
208 *this = other;
209 }
210
212
213 public:
216
222 std::pair<boost::shared_ptr<BayesTreeType>, boost::shared_ptr<FactorGraphType> > eliminate(
223 const Eliminate& function) const;
224
226
229
232 return remainingFactors_;
233 }
234
236
237 protected:
240
243 This& operator=(const This& other);
244
247
249};
250}
251
A thin wrapper around std::vector that uses a custom allocator.
Concept check for values that can be used in unit tests.
Variable ordering for the elimination algorithm.
Collects factorgraph fragments defined on variable clusters, arranged in a tree.
std::vector< T, typename internal::FastDefaultVectorAllocator< T >::type > FastVector
FastVector is a type alias to a std::vector with a custom memory allocator.
Definition FastVector.h:34
Global functions in a separate testing namespace.
Definition chartTesting.h:28
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
A cluster-tree that eliminates to a Bayes tree.
Definition ClusterTree.h:184
EliminatableClusterTree< BAYESTREE, GRAPH > This
This class.
Definition ClusterTree.h:188
EliminatableClusterTree()
Default constructor to be used in derived classes.
Definition ClusterTree.h:246
BAYESTREE::ConditionalType ConditionalType
The type of conditionals.
Definition ClusterTree.h:191
This & operator=(const This &other)
Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copie...
Definition ClusterTree-inst.h:231
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.
Definition ClusterTree-inst.h:245
boost::shared_ptr< ConditionalType > sharedConditional
Shared pointer to a conditional.
Definition ClusterTree.h:193
boost::shared_ptr< FactorType > sharedFactor
Shared pointer to a factor.
Definition ClusterTree.h:197
const FastVector< sharedFactor > & remainingFactors() const
Return the remaining factors that are not pulled into elimination.
Definition ClusterTree.h:231
EliminatableClusterTree(const This &other)
Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied,...
Definition ClusterTree.h:207
BAYESTREE BayesTreeType
The BayesTree type produced by elimination.
Definition ClusterTree.h:186
GRAPH::FactorType FactorType
The type of factors.
Definition ClusterTree.h:196
GRAPH FactorGraphType
The factor graph type.
Definition ClusterTree.h:187
boost::shared_ptr< This > shared_ptr
Shared pointer to this class.
Definition ClusterTree.h:189
GRAPH::Eliminate Eliminate
Typedef for an eliminate subroutine.
Definition ClusterTree.h:195
A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: each node k re...
Definition ClusterTree.h:25
This & operator=(const This &other)
Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copie...
Definition ClusterTree-inst.h:104
ClusterTree< GRAPH > This
This class.
Definition ClusterTree.h:28
boost::shared_ptr< This > shared_ptr
Shared pointer to this class.
Definition ClusterTree.h:29
FastVector< sharedNode > roots_
concept check
Definition ClusterTree.h:116
GRAPH::FactorType FactorType
The type of factors.
Definition ClusterTree.h:31
GRAPH FactorGraphType
The factor graph type.
Definition ClusterTree.h:27
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Print the cluster tree.
Definition ClusterTree-inst.h:98
boost::shared_ptr< FactorType > sharedFactor
Shared pointer to a factor.
Definition ClusterTree.h:32
const FastVector< sharedNode > & roots() const
Return the set of roots (one for a tree, multiple for a forest)
Definition ClusterTree.h:159
ClusterTree(const This &other)
Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied,...
Definition ClusterTree.h:123
ClusterTree()
Default constructor.
Definition ClusterTree.h:132
boost::shared_ptr< Cluster > sharedCluster
Shared pointer to Cluster.
Definition ClusterTree.h:106
A Cluster is just a collection of factors.
Definition ClusterTree.h:36
Cluster(Key key, const CONTAINER &factorsToAdd)
Construct from factors associated with a single key.
Definition ClusterTree.h:57
Children children
sub-trees
Definition ClusterTree.h:38
virtual void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
print this node
Definition ClusterTree-inst.h:26
Keys orderedFrontalKeys
Frontal keys of this node.
Definition ClusterTree.h:41
void mergeChildren(const std::vector< bool > &merge)
Merge all children for which bit is set into this node.
Definition ClusterTree-inst.h:56
void merge(const boost::shared_ptr< Cluster > &cluster)
Merge in given cluster.
Definition ClusterTree-inst.h:44
std::vector< size_t > nrFrontalsOfChildren() const
Return a vector with nrFrontal keys for each child.
Definition ClusterTree-inst.h:34
FactorGraphType factors
Factors associated with this node.
Definition ClusterTree.h:43
void addChild(const boost::shared_ptr< Cluster > &cluster)
Add a child cluster.
Definition ClusterTree.h:71
void addFactors(Key key, const CONTAINER &factorsToAdd)
Add factors associated with a single key.
Definition ClusterTree.h:64
Definition Ordering.h:34