33class HybridGaussianFactorGraph;
34class HybridConditional;
36class HybridEliminationTree;
38class HybridJunctionTree;
39class DecisionTreeFactor;
52std::pair<boost::shared_ptr<HybridConditional>, boost::shared_ptr<Factor>>
53EliminateHybrid(
const HybridGaussianFactorGraph& factors,
const Ordering& keys);
61GTSAM_EXPORT
const Ordering
80 static std::pair<boost::shared_ptr<ConditionalType>,
81 boost::shared_ptr<FactorType>>
88 boost::optional<const VariableIndex&> variableIndex) {
105 template <
typename FACTOR>
107 std::is_base_of<GaussianFactor, FACTOR>::value>::type;
130 template <
class DERIVEDFACTOR>
A set of GaussianFactors, indexed by a set of discrete keys.
Factor graph with utilities for hybrid factors.
Variable elimination algorithms for factor graphs.
Variable ordering for the elimination algorithm.
A factor with a quadratic error function - a Gaussian.
std::pair< HybridConditional::shared_ptr, boost::shared_ptr< Factor > > EliminateHybrid(const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
Main elimination function for HybridGaussianFactorGraph.
Definition HybridGaussianFactorGraph.cpp:320
Global functions in a separate testing namespace.
Definition chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition Key.h:86
const Ordering HybridOrdering(const HybridGaussianFactorGraph &graph)
Return a Colamd constrained ordering where the discrete keys are eliminated after the continuous keys...
Definition HybridGaussianFactorGraph.cpp:72
An algebraic decision tree fixes the range of a DecisionTree to double.
Definition AlgebraicDecisionTree.h:38
a decision tree is a function from assignments to values.
Definition DecisionTree.h:61
A hybrid Bayes net is a collection of HybridConditionals, which can have discrete conditionals,...
Definition HybridBayesNet.h:35
A Bayes tree representing a Hybrid density.
Definition HybridBayesTree.h:64
Hybrid Conditional Density.
Definition HybridConditional.h:62
Elimination Tree type for Hybrid Factor Graphs.
Definition HybridEliminationTree.h:32
Hybrid Factor Graph Factor graph with utilities for hybrid factors.
Definition HybridFactorGraph.h:39
static std::pair< boost::shared_ptr< ConditionalType >, boost::shared_ptr< FactorType > > DefaultEliminate(const FactorGraphType &factors, const Ordering &keys)
The default dense elimination function.
Definition HybridGaussianFactorGraph.h:82
HybridConditional ConditionalType
Type of conditionals from elimination.
Definition HybridGaussianFactorGraph.h:72
HybridGaussianFactorGraph FactorGraphType
Type of the factor graph (e.g.
Definition HybridGaussianFactorGraph.h:69
HybridJunctionTree JunctionTreeType
Type of Junction tree.
Definition HybridGaussianFactorGraph.h:78
HybridEliminationTree EliminationTreeType
Type of elimination tree.
Definition HybridGaussianFactorGraph.h:76
static Ordering DefaultOrderingFunc(const FactorGraphType &graph, boost::optional< const VariableIndex & > variableIndex)
The default ordering generation function.
Definition HybridGaussianFactorGraph.h:86
Factor FactorType
Type of factors in factor graph.
Definition HybridGaussianFactorGraph.h:67
HybridBayesTree BayesTreeType
Type of Bayes tree.
Definition HybridGaussianFactorGraph.h:77
HybridBayesNet BayesNetType
Type of Bayes net from sequential elimination.
Definition HybridGaussianFactorGraph.h:74
Definition HybridGaussianFactorGraph.h:102
boost::shared_ptr< This > shared_ptr
shared_ptr to This
Definition HybridGaussianFactorGraph.h:114
typename std::enable_if< std::is_base_of< GaussianFactor, FACTOR >::value >::type IsGaussian
Check if FACTOR type is derived from GaussianFactor.
Definition HybridGaussianFactorGraph.h:107
KeyVector Indices
map from keys to values
Definition HybridGaussianFactorGraph.h:117
EliminateableFactorGraph< This > BaseEliminateable
for elimination
Definition HybridGaussianFactorGraph.h:113
HybridGaussianFactorGraph()=default
Default constructor.
HybridGaussianFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Implicit copy/downcast constructor to override explicit template container constructor.
Definition HybridGaussianFactorGraph.h:131
An EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree,...
Definition HybridJunctionTree.h:53
HybridValues represents a collection of DiscreteValues and VectorValues.
Definition HybridValues.h:38
A factor graph is a bipartite graph with factor nodes connected to variable nodes.
Definition FactorGraph.h:97
Traits class for eliminateable factor graphs, specifies the types that result from elimination,...
Definition EliminateableFactorGraph.h:36
EliminateableFactorGraph is a base class for factor graphs that contains elimination algorithms.
Definition EliminateableFactorGraph.h:57
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition VectorValues.h:74
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65
In Gaussian factors, the error function returns either the negative log-likelihood,...