Doxygen

gtsam/inference/EliminationTree-inl.h

@@ -1,8 +1,7 @@
 /**
  * @file    EliminationTree.cpp
- * @brief   
  * @author  Frank Dellaert
- * @created Oct 13, 2010
+ * @date    Oct 13, 2010
  */
 #pragma once
 

gtsam/inference/EliminationTree.h

@@ -1,8 +1,7 @@
 /**
  * @file    EliminationTree.h
- * @brief   
  * @author  Frank Dellaert
- * @created Oct 13, 2010
+ * @date    Oct 13, 2010
  */
 #pragma once
 

gtsam/inference/Factor-inl.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    Factor-inl.h
- * @brief   
  * @author  Richard Roberts
- * @created Sep 1, 2010
+ * @date    Sep 1, 2010
  */
 
 #pragma once

gtsam/inference/GenericMultifrontalSolver-inl.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    GenericMultifrontalSolver-inl.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 
 #pragma once

gtsam/inference/GenericMultifrontalSolver.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    GenericMultifrontalSolver.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 
 #pragma once
@@ -25,74 +24,80 @@
 
 namespace gtsam {
 
-/**
+	/**
- * A Generic Multifrontal Solver class
+	 * A Generic Multifrontal Solver class
- * Takes two template arguments:
+	 *
- *   FACTOR the factor type, e.g., GaussianFactor, DiscreteFactor
+	 * A solver is given a factor graph at construction, and implements
- *   JUNCTIONTREE annoyingly, you also have to supply a compatible JT type
+	 * a strategy to solve it (in this case, eliminate into a Bayes tree).
- *                i.e., one templated on a factor graph with the same factors
+	 * This generic one will create a Bayes tree when eliminate() is called.
- *                TODO: figure why this is so and possibly fix it
+	 *
- */
+	 * Takes two template arguments:
-template<class FACTOR, class JUNCTIONTREE>
+	 *   FACTOR the factor type, e.g., GaussianFactor, DiscreteFactor
-class GenericMultifrontalSolver {
+	 *   JUNCTIONTREE annoyingly, you also have to supply a compatible JT type
+	 *                i.e., one templated on a factor graph with the same factors
+	 *                TODO: figure why this is so and possibly fix it
+	 */
+	template<class FACTOR, class JUNCTIONTREE>
+	class GenericMultifrontalSolver {
 
-protected:
+	protected:
 
-  // Column structure of the factor graph
+		/// Column structure of the factor graph
-  VariableIndex::shared_ptr structure_;
+		VariableIndex::shared_ptr structure_;
 
-  // Junction tree that performs elimination.
+		/// Junction tree that performs elimination.
-  typename JUNCTIONTREE::shared_ptr junctionTree_;
+		typename JUNCTIONTREE::shared_ptr junctionTree_;
-public:
 
-  typedef typename FactorGraph<FACTOR>::shared_ptr sharedGraph;
+	public:
-  typedef typename FactorGraph<FACTOR>::Eliminate Eliminate;
 
-  /**
+		typedef typename FactorGraph<FACTOR>::shared_ptr sharedGraph;
-   * Construct the solver for a factor graph.  This builds the junction
+		typedef typename FactorGraph<FACTOR>::Eliminate Eliminate;
-   * tree, which does the symbolic elimination, identifies the cliques,
-   * and distributes all the factors to the right cliques.
-   */
-  GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph);
 
-  /**
+		/**
-   * Construct the solver with a shared pointer to a factor graph and to a
+		 * Construct the solver for a factor graph.  This builds the junction
-   * VariableIndex.  The solver will store these pointers, so this constructor
+		 * tree, which does the symbolic elimination, identifies the cliques,
-   * is the fastest.
+		 * and distributes all the factors to the right cliques.
-   */
+		 */
-  GenericMultifrontalSolver(const sharedGraph& factorGraph,
+		GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph);
+
+		/**
+		 * Construct the solver with a shared pointer to a factor graph and to a
+		 * VariableIndex.  The solver will store these pointers, so this constructor
+		 * is the fastest.
+		 */
+		GenericMultifrontalSolver(const sharedGraph& factorGraph,
 				const VariableIndex::shared_ptr& variableIndex);
 
-  /**
+		/**
-   * Replace the factor graph with a new one having the same structure.  The
+		 * Replace the factor graph with a new one having the same structure.  The
-   * This function can be used if the numerical part of the factors changes,
+		 * This function can be used if the numerical part of the factors changes,
-   * such as during relinearization or adjusting of noise models.
+		 * such as during relinearization or adjusting of noise models.
-   */
+		 */
-  void replaceFactors(const sharedGraph& factorGraph);
+		void replaceFactors(const sharedGraph& factorGraph);
 
-  /**
+		/**
-   * Eliminate the factor graph sequentially.  Uses a column elimination tree
+		 * Eliminate the factor graph sequentially.  Uses a column elimination tree
-   * to recursively eliminate.
+		 * to recursively eliminate.
-   */
+		 */
-  typename JUNCTIONTREE::BayesTree::shared_ptr
+		typename JUNCTIONTREE::BayesTree::shared_ptr
 		eliminate(Eliminate function) const;
 
-  /**
+		/**
-   * Compute the marginal joint over a set of variables, by integrating out
+		 * Compute the marginal joint over a set of variables, by integrating out
-   * all of the other variables.  This function returns the result as a factor
+		 * all of the other variables.  This function returns the result as a factor
-   * graph.
+		 * graph.
-   */
+		 */
-  typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
+		typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
-      const std::vector<Index>& js, Eliminate function) const;
+				const std::vector<Index>& js, Eliminate function) const;
 
-  /**
+		/**
-   * Compute the marginal density over a variable, by integrating out
+		 * Compute the marginal density over a variable, by integrating out
-   * all of the other variables.  This function returns the result as a factor.
+		 * all of the other variables.  This function returns the result as a factor.
-   */
+		 */
-  typename FACTOR::shared_ptr marginalFactor(Index j, Eliminate function) const;
+		typename FACTOR::shared_ptr marginalFactor(Index j,
+				Eliminate function) const;
 
-};
+	};
-
-}
 
+} // gtsam
 

gtsam/inference/GenericSequentialSolver-inl.h

@@ -13,7 +13,7 @@
  * @file    GenericSequentialSolver-inl.h
  * @brief   Implementation for generic sequential solver
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 
 #pragma once

gtsam/inference/GenericSequentialSolver.h

@@ -13,7 +13,7 @@
  * @file    GenericSequentialSolver.h
  * @brief   generic sequential elimination
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 
 #pragma once

gtsam/inference/IndexConditional.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    IndexConditional.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 17, 2010
+ * @date    Oct 17, 2010
  */
 
 #include <gtsam/base/FastSet.h>

gtsam/inference/IndexConditional.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    IndexConditional.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 17, 2010
+ * @date    Oct 17, 2010
  */
 
 #pragma once

gtsam/inference/IndexFactor.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    IndexFactor.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 17, 2010
+ * @date    Oct 17, 2010
  */
 
 #include <gtsam/inference/IndexFactor.h>

gtsam/inference/IndexFactor.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    IndexFactor.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 17, 2010
+ * @date    Oct 17, 2010
  */
 
 #pragma once

gtsam/inference/Permutation.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    Permutation.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 9, 2010
+ * @date    Oct 9, 2010
  */
 
 #include <gtsam/inference/Permutation.h>

gtsam/inference/Permutation.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    Permutation.h
- * @brief   
  * @author  Richard Roberts
- * @created Sep 12, 2010
+ * @date    Sep 12, 2010
  */
 
 #pragma once

gtsam/inference/SymbolicMultifrontalSolver.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    SymbolicMultifrontalSolver.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 22, 2010
+ * @date    Oct 22, 2010
  */
 
 #include <gtsam/inference/SymbolicMultifrontalSolver.h>

gtsam/inference/SymbolicMultifrontalSolver.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    SymbolicMultifrontalSolver.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 22, 2010
+ * @date    Oct 22, 2010
  */
 
 #pragma once

gtsam/inference/SymbolicSequentialSolver.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    SymbolicSequentialSolver.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 
 #include <gtsam/inference/SymbolicSequentialSolver.h>

gtsam/inference/SymbolicSequentialSolver.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    SymbolicSequentialSolver.h
- * @brief   
  * @author  Richard Roberts
- * @created Oct 21, 2010
+ * @date    Oct 21, 2010
  */
 #pragma once
 

gtsam/inference/VariableIndex.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    VariableIndex.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 22, 2010
+ * @date    Oct 22, 2010
  */
 
 #include <iostream>

gtsam/inference/VariableIndex.h

@@ -11,9 +11,8 @@
 
 /**
  * @file    VariableIndex.h
- * @brief   
  * @author  Richard Roberts
- * @created Sep 12, 2010
+ * @date    Sep 12, 2010
  */
 
 #pragma once

gtsam/inference/VariableSlots.cpp

@@ -11,9 +11,8 @@
 
 /**
  * @file    VariableSlots.cpp
- * @brief   
  * @author  Richard Roberts
- * @created Oct 5, 2010
+ * @date    Oct 5, 2010
  */
 
 #include <gtsam/inference/VariableSlots.h>

gtsam/inference/VariableSlots.h

@@ -13,7 +13,7 @@
  * @file    VariableSlots.h
  * @brief   VariableSlots describes the structure of a combined factor in terms of where each block comes from in the source factors.
  * @author  Richard Roberts
- * @created Oct 4, 2010
+ * @date    Oct 4, 2010
  */
 
 #pragma once

gtsam/inference/tests/testEliminationTree.cpp

@@ -13,7 +13,7 @@
  * @file    testEliminationTree.cpp
  * @brief   
  * @author  Richard Roberts
- * @created Oct 14, 2010
+ * @date Oct 14, 2010
  */
 
 #include <CppUnitLite/TestHarness.h>

gtsam/inference/tests/testInference.cpp

@@ -13,7 +13,7 @@
  * @file    testInference.cpp
  * @brief   
  * @author  Richard Roberts
- * @created Dec 6, 2010
+ * @date Dec 6, 2010
  */
 
 #include <CppUnitLite/TestHarness.h>

gtsam/inference/tests/testVariableIndex.cpp

@@ -13,7 +13,7 @@
  * @file    testVariableIndex.cpp
  * @brief   
  * @author  Richard Roberts
- * @created Sep 26, 2010
+ * @date Sep 26, 2010
  */
 
 #include <CppUnitLite/TestHarness.h>

gtsam/inference/tests/testVariableSlots.cpp

@@ -13,7 +13,7 @@
  * @file    testVariableSlots.cpp
  * @brief   
  * @author  Richard Roberts
- * @created Oct 5, 2010
+ * @date Oct 5, 2010
  */
 
 #include <CppUnitLite/TestHarness.h>