Doxygen
Frank Dellaert
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/**
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* @file EliminationTree.cpp
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* @brief
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* @author Frank Dellaert
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* @created Oct 13, 2010
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* @date Oct 13, 2010
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*/
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#pragma once
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/**
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* @file EliminationTree.h
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* @brief
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* @author Frank Dellaert
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* @created Oct 13, 2010
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* @date Oct 13, 2010
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*/
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#pragma once
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/**
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* @file Factor-inl.h
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* @brief
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* @author Richard Roberts
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* @created Sep 1, 2010
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* @date Sep 1, 2010
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*/
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#pragma once
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/**
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* @file GenericMultifrontalSolver-inl.h
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* @brief
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#pragma once
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/**
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* @file GenericMultifrontalSolver.h
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* @brief
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#pragma once
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@ -25,74 +24,80 @@
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namespace gtsam {
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/**
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* A Generic Multifrontal Solver class
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* Takes two template arguments:
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* FACTOR the factor type, e.g., GaussianFactor, DiscreteFactor
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* JUNCTIONTREE annoyingly, you also have to supply a compatible JT type
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* i.e., one templated on a factor graph with the same factors
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* TODO: figure why this is so and possibly fix it
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*/
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template<class FACTOR, class JUNCTIONTREE>
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class GenericMultifrontalSolver {
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/**
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* A Generic Multifrontal Solver class
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*
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* A solver is given a factor graph at construction, and implements
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* a strategy to solve it (in this case, eliminate into a Bayes tree).
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* This generic one will create a Bayes tree when eliminate() is called.
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*
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* Takes two template arguments:
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* FACTOR the factor type, e.g., GaussianFactor, DiscreteFactor
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* JUNCTIONTREE annoyingly, you also have to supply a compatible JT type
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* i.e., one templated on a factor graph with the same factors
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* TODO: figure why this is so and possibly fix it
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*/
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template<class FACTOR, class JUNCTIONTREE>
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class GenericMultifrontalSolver {
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protected:
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protected:
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// Column structure of the factor graph
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VariableIndex::shared_ptr structure_;
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/// Column structure of the factor graph
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VariableIndex::shared_ptr structure_;
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// Junction tree that performs elimination.
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typename JUNCTIONTREE::shared_ptr junctionTree_;
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public:
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/// Junction tree that performs elimination.
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typename JUNCTIONTREE::shared_ptr junctionTree_;
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typedef typename FactorGraph<FACTOR>::shared_ptr sharedGraph;
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typedef typename FactorGraph<FACTOR>::Eliminate Eliminate;
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public:
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/**
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* Construct the solver for a factor graph. This builds the junction
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* tree, which does the symbolic elimination, identifies the cliques,
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* and distributes all the factors to the right cliques.
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*/
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GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph);
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typedef typename FactorGraph<FACTOR>::shared_ptr sharedGraph;
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typedef typename FactorGraph<FACTOR>::Eliminate Eliminate;
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/**
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* Construct the solver with a shared pointer to a factor graph and to a
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* VariableIndex. The solver will store these pointers, so this constructor
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* is the fastest.
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*/
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GenericMultifrontalSolver(const sharedGraph& factorGraph,
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/**
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* Construct the solver for a factor graph. This builds the junction
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* tree, which does the symbolic elimination, identifies the cliques,
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* and distributes all the factors to the right cliques.
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*/
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GenericMultifrontalSolver(const FactorGraph<FACTOR>& factorGraph);
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/**
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* Construct the solver with a shared pointer to a factor graph and to a
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* VariableIndex. The solver will store these pointers, so this constructor
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* is the fastest.
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*/
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GenericMultifrontalSolver(const sharedGraph& factorGraph,
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const VariableIndex::shared_ptr& variableIndex);
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/**
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* Replace the factor graph with a new one having the same structure. The
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* This function can be used if the numerical part of the factors changes,
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* such as during relinearization or adjusting of noise models.
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*/
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void replaceFactors(const sharedGraph& factorGraph);
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/**
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* Replace the factor graph with a new one having the same structure. The
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* This function can be used if the numerical part of the factors changes,
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* such as during relinearization or adjusting of noise models.
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*/
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void replaceFactors(const sharedGraph& factorGraph);
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/**
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* Eliminate the factor graph sequentially. Uses a column elimination tree
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* to recursively eliminate.
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*/
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typename JUNCTIONTREE::BayesTree::shared_ptr
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/**
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* Eliminate the factor graph sequentially. Uses a column elimination tree
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* to recursively eliminate.
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*/
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typename JUNCTIONTREE::BayesTree::shared_ptr
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eliminate(Eliminate function) const;
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/**
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* Compute the marginal joint over a set of variables, by integrating out
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* all of the other variables. This function returns the result as a factor
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* graph.
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*/
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typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
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const std::vector<Index>& js, Eliminate function) const;
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/**
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* Compute the marginal joint over a set of variables, by integrating out
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* all of the other variables. This function returns the result as a factor
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* graph.
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*/
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typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
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const std::vector<Index>& js, Eliminate function) const;
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/**
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* Compute the marginal density over a variable, by integrating out
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* all of the other variables. This function returns the result as a factor.
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*/
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typename FACTOR::shared_ptr marginalFactor(Index j, Eliminate function) const;
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/**
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* Compute the marginal density over a variable, by integrating out
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* all of the other variables. This function returns the result as a factor.
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*/
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typename FACTOR::shared_ptr marginalFactor(Index j,
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Eliminate function) const;
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};
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}
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};
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} // gtsam
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* @file GenericSequentialSolver-inl.h
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* @brief Implementation for generic sequential solver
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#pragma once
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* @file GenericSequentialSolver.h
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* @brief generic sequential elimination
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#pragma once
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/**
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* @file IndexConditional.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 17, 2010
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* @date Oct 17, 2010
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*/
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#include <gtsam/base/FastSet.h>
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/**
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* @file IndexConditional.h
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* @brief
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* @author Richard Roberts
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* @created Oct 17, 2010
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* @date Oct 17, 2010
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*/
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#pragma once
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/**
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* @file IndexFactor.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 17, 2010
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* @date Oct 17, 2010
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*/
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#include <gtsam/inference/IndexFactor.h>
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/**
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* @file IndexFactor.h
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* @brief
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* @author Richard Roberts
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* @created Oct 17, 2010
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* @date Oct 17, 2010
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*/
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#pragma once
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/**
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* @file Permutation.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 9, 2010
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* @date Oct 9, 2010
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*/
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#include <gtsam/inference/Permutation.h>
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/**
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* @file Permutation.h
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* @brief
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* @author Richard Roberts
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* @created Sep 12, 2010
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* @date Sep 12, 2010
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*/
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#pragma once
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/**
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* @file SymbolicMultifrontalSolver.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 22, 2010
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* @date Oct 22, 2010
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*/
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#include <gtsam/inference/SymbolicMultifrontalSolver.h>
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/**
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* @file SymbolicMultifrontalSolver.h
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* @brief
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* @author Richard Roberts
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* @created Oct 22, 2010
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* @date Oct 22, 2010
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*/
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#pragma once
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/**
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* @file SymbolicSequentialSolver.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#include <gtsam/inference/SymbolicSequentialSolver.h>
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/**
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* @file SymbolicSequentialSolver.h
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* @brief
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* @author Richard Roberts
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* @created Oct 21, 2010
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* @date Oct 21, 2010
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*/
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#pragma once
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/**
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* @file VariableIndex.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 22, 2010
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* @date Oct 22, 2010
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*/
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#include <iostream>
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/**
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* @file VariableIndex.h
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* @brief
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* @author Richard Roberts
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* @created Sep 12, 2010
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* @date Sep 12, 2010
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*/
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#pragma once
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/**
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* @file VariableSlots.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 5, 2010
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* @date Oct 5, 2010
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*/
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#include <gtsam/inference/VariableSlots.h>
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* @file VariableSlots.h
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* @brief VariableSlots describes the structure of a combined factor in terms of where each block comes from in the source factors.
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* @author Richard Roberts
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* @created Oct 4, 2010
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* @date Oct 4, 2010
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*/
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#pragma once
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* @file testEliminationTree.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 14, 2010
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* @date Oct 14, 2010
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*/
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#include <CppUnitLite/TestHarness.h>
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* @file testInference.cpp
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* @brief
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* @author Richard Roberts
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* @created Dec 6, 2010
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* @date Dec 6, 2010
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*/
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#include <CppUnitLite/TestHarness.h>
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* @file testVariableIndex.cpp
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* @brief
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* @author Richard Roberts
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* @created Sep 26, 2010
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* @date Sep 26, 2010
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*/
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#include <CppUnitLite/TestHarness.h>
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* @file testVariableSlots.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 5, 2010
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* @date Oct 5, 2010
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*/
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#include <CppUnitLite/TestHarness.h>
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