34class HybridConditional;
46 HybridGaussianFactorGraph> {
51 typedef boost::shared_ptr<This> shared_ptr;
52 typedef boost::weak_ptr<This> weak_ptr;
55 :
Base(conditional) {}
59 virtual ~HybridBayesTreeClique() {}
70 typedef boost::shared_ptr<This> shared_ptr;
78 bool equals(
const This& other,
double tol = 1e-9)
const;
112 void prune(
const size_t maxNumberLeaves);
118 friend class boost::serialization::access;
119 template <
class ARCHIVE>
120 void serialize(ARCHIVE& ar,
const unsigned int ) {
121 ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
145 boost::shared_ptr<CliqueType> clique;
156 this->keys_.assign(clique->conditional()->beginParents(),
157 clique->conditional()->endParents());
158 this->discreteKeys_.assign(clique->conditional()->discreteKeys().begin(),
159 clique->conditional()->discreteKeys().end());
164 const std::string& s =
"",
165 const KeyFormatter& formatter = DefaultKeyFormatter)
const override {
166 clique->print(s +
"stored clique", formatter);
A Bayes net of Gaussian Conditionals indexed by discrete keys.
Linearized Hybrid factor graph that uses type erasure.
Base class for cliques of a BayesTree.
Bayes Tree is a tree of cliques of a Bayes Chain.
Base class for conditional densities.
Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
Optimize for triangulation.
Definition: triangulation.cpp:155
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
Template to create a binary predicate.
Definition: Testable.h:111
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
A map from keys to values.
Definition: DiscreteValues.h:34
A clique in a HybridBayesTree which is a HybridConditional internally.
Definition: HybridBayesTree.h:46
HybridBayesTreeClique(const boost::shared_ptr< HybridConditional > &conditional)
Copy constructor.
Definition: HybridBayesTree.h:54
A Bayes tree representing a Hybrid density.
Definition: HybridBayesTree.h:64
HybridBayesTree()=default
Default constructor, creates an empty Bayes tree.
BayesTreeOrphanWrapper(const boost::shared_ptr< CliqueType > &clique)
Construct a new Bayes Tree Orphan Wrapper object.
Definition: HybridBayesTree.h:152
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
print utility
Definition: HybridBayesTree.h:163
Hybrid Conditional Density.
Definition: HybridConditional.h:62
HybridValues represents a collection of DiscreteValues and VectorValues.
Definition: HybridValues.h:38
Bayes tree.
Definition: BayesTree.h:67
Definition: BayesTree.h:276
This is the base class for BayesTree cliques.
Definition: BayesTreeCliqueBase.h:50
A Bayes tree representing a Gaussian density.
Definition: GaussianBayesTree.h:52
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition: VectorValues.h:74
The Factor::error simply extracts the.