12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed comments and formatting

release/4.3a0
Richard Roberts 2012-10-08 23:34:17 +00:00
parent e52b6efb68
commit 2841b8665f
1 changed files with 9 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
gtsam/inference/BayesTreeCliqueBase.h
View File

@ -67,8 +67,7 @@ namespace gtsam {
/// @{
/** Default constructor */
BayesTreeCliqueBase() {
}
BayesTreeCliqueBase() {}
/** Construct from a conditional, leaving parent and child pointers uninitialized */
BayesTreeCliqueBase(const sharedConditional& conditional);
@ -170,8 +169,7 @@ namespace gtsam {
* types, such as ISAM2Clique, the factor part is kept as a cached factor.
* @param result An elimination result, which is a pair<CONDITIONAL,FACTOR>
*/
static derived_ptr Create(
const std::pair<sharedConditional,
static derived_ptr Create(const std::pair<sharedConditional,
boost::shared_ptr<typename ConditionalType::FactorType> >& result) {
return boost::make_shared<DerivedType>(result);
}
@ -194,27 +192,22 @@ namespace gtsam {
bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
/** return the conditional P(S|Root) on the separator given the root */
BayesNet<ConditionalType> shortcut(derived_ptr root,
Eliminate function) const;
BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
/** return the marginal P(C) of the clique */
FactorGraph<FactorType> marginal(derived_ptr root,
Eliminate function) const;
FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
/** return the conditional P(S|Root) on the separator given the root */
FactorGraph<FactorType> separatorMarginal(derived_ptr root,
Eliminate function) const;
/** return the marginal P(S) on the separator */
FactorGraph<FactorType> separatorMarginal(derived_ptr root, Eliminate function) const;
/** return the marginal P(C) of the clique, using separator shortcuts */
FactorGraph<FactorType> marginal2(derived_ptr root,
Eliminate function) const;
/** return the marginal P(C) of the clique, using marginal caching */
FactorGraph<FactorType> marginal2(derived_ptr root, Eliminate function) const;
/**
* return the joint P(C1,C2), where C1==this. TODO: not a method?
* Limitation: can only calculate joint if cliques are disjoint or one of them is root
*/
FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root,
Eliminate function) const;
FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
/**
* This deletes the cached shortcuts of all cliques (subtree) below this clique.