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Fix some docs and visiblity

release/4.3a0
Frank Dellaert 2025-01-22 23:11:16 -05:00
parent b2fbbbb26f
commit abac726c35
3 changed files with 23 additions and 19 deletions
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22
gtsam/inference/BayesTree.h
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@ -119,13 +119,14 @@ namespace gtsam {
/** Assignment operator */ /** Assignment operator */
This& operator=(const This& other); This& operator=(const This& other);
public:
/// @name Testable /// @name Testable
/// @{ /// @{
/** check equality */ /** check equality */
bool equals(const This& other, double tol = 1e-9) const; bool equals(const This& other, double tol = 1e-9) const;
public:
/** print */ /** print */
void print(const std::string& s = "", void print(const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
@ -185,18 +186,19 @@ namespace gtsam {
*/ */
sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;
/// @name Graph Display /// @}
/// @{ /// @name Graph Display
/// @{
/// Output to graphviz format, stream version. /// Output to graphviz format, stream version.
void dot(std::ostream& os, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; void dot(std::ostream& os, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/// Output to graphviz format string. /// Output to graphviz format string.
std::string dot( std::string dot(
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/// output to file with graphviz format. /// output to file with graphviz format.
void saveGraph(const std::string& filename, void saveGraph(const std::string& filename,
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/// @} /// @}

16
gtsam/inference/BayesTreeCliqueBase-inst.h
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@ -104,14 +104,16 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
// The shortcut density is a conditional P(S|R) of the separator of this // The shortcut density is a conditional P(S|B) of the separator of this
// clique on the root. We can compute it recursively from the parent shortcut // clique on the root or common ancestor B. We can compute it recursively from
// P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p // the parent shortcut P(Sp|B) as \int P(Fp|Sp) P(Sp|B), where Fp are the
/* ************************************************************************* */ // frontal nodes in p
template<class DERIVED, class FACTORGRAPH> /* *************************************************************************
*/
template <class DERIVED, class FACTORGRAPH>
typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::BayesNetType typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::BayesNetType
BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::shortcut(const derived_ptr& B, Eliminate function) const BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::shortcut(
{ const derived_ptr& B, Eliminate function) const {
gttic(BayesTreeCliqueBase_shortcut); gttic(BayesTreeCliqueBase_shortcut);
// We only calculate the shortcut when this clique is not B // We only calculate the shortcut when this clique is not B
// and when the S\B is not empty // and when the S\B is not empty

4
gtsam/inference/BayesTreeCliqueBase.h
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@ -190,11 +190,11 @@ namespace gtsam {
friend class BayesTree<DerivedType>; friend class BayesTree<DerivedType>;
protected:
/// Calculate set \f$ S \setminus B \f$ for shortcut calculations /// Calculate set \f$ S \setminus B \f$ for shortcut calculations
KeyVector separator_setminus_B(const derived_ptr& B) const; KeyVector separator_setminus_B(const derived_ptr& B) const;
protected:
/** Determine variable indices to keep in recursive separator shortcut calculation The factor /** Determine variable indices to keep in recursive separator shortcut calculation The factor
* graph p_Cp_B has keys from the parent clique Cp and from B. But we only keep the variables * graph p_Cp_B has keys from the parent clique Cp and from B. But we only keep the variables
* not in S union B. */ * not in S union B. */