gtsam 4.2.0
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HybridEliminationTree.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
18#pragma once
19
23
24namespace gtsam {
25
31class GTSAM_EXPORT HybridEliminationTree
32 : public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {
33 private:
34 friend class ::EliminationTreeTester;
35
36 public:
40 typedef boost::shared_ptr<This> shared_ptr;
41
44
55 const VariableIndex& structure, const Ordering& order);
56
63 const Ordering& order);
64
66
68 bool equals(const This& other, double tol = 1e-9) const;
69};
70
71} // namespace gtsam
A Bayes net of Gaussian Conditionals indexed by discrete keys.
Linearized Hybrid factor graph that uses type erasure.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
Template to create a binary predicate.
Definition Testable.h:111
Elimination Tree type for Hybrid Factor Graphs.
Definition HybridEliminationTree.h:32
HybridEliminationTree This
This class.
Definition HybridEliminationTree.h:39
boost::shared_ptr< This > shared_ptr
Shared pointer to this class.
Definition HybridEliminationTree.h:40
EliminationTree< HybridBayesNet, HybridGaussianFactorGraph > Base
Base class.
Definition HybridEliminationTree.h:38
Definition HybridGaussianFactorGraph.h:102
An elimination tree is a data structure used intermediately during elimination.
Definition EliminationTree.h:52
Definition Ordering.h:34
The VariableIndex class computes and stores the block column structure of a factor graph.
Definition VariableIndex.h:43