/** * @file GaussianBayesTree * @brief Bayes Tree is a tree of cliques of a Bayes Chain * @author Michael Kaess */ // \callgraph #pragma once #include #include #include #include #include #include #include "Testable.h" #include "BayesTree.h" #include "VectorConfig.h" #include "GaussianConditional.h" namespace gtsam { typedef BayesTree GaussianBayesTree; // recursively optimize this conditional and all subtrees void optimize(const GaussianBayesTree::sharedClique& clique, VectorConfig& result); // optimize the BayesTree, starting from the root VectorConfig optimize(const GaussianBayesTree& bayesTree); }/// namespace gtsam