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Dehann Fourie edited this page Oct 15, 2020 · 5 revisions

Solving for any Tree

Regular Clique Pattern

https://github.com/JuliaRobotics/IncrementalInference.jl/issues/855#issuecomment-701213747

The cliques are scheduled by the repeating pattern:

....
send up
wait for down
do some down stuff
send down
wait for up
do some up stuff
....

Regular Clique Solve (Have Init)

status=null
cannot MarginalizedRecycle
cannot IncrementalRecycle
Still status=null
should clique do up solve
wait until children upsolved
get children up messages
do up solve (status=upsolved)
should clique do down solve
wait parent down message
do down solve (status=downsolved)
exit

Leaf-Init Clique Sequence

status=null
cannot MarginalizedRecycle
cannot IncrementalRecycle
Still status=null
should clique do up solve
No Children
clique is not initialized
clique is not able to initialize
status=needdownmsg
wait until siblings have status
wait until parent has down init message
find/wait sibling init order
wait for latest down init from parent
do down init
do up solve
determine if should down solve
wait for parent message
do down solve
exit

Regular Clique Sequence (down init chain)

status=null
cannot MarginalizedRecycle
cannot IncrementalRecycle
Still status=null
should clique do up solve
wait children status
do all children need down init
cannot initialize clique
status=needdowninit
wait until siblings have status
wait until parent has down init message
find/wait sibling init order
wait for latest down init from parent
do down init
wait until children upsolved
get children up messages
do up solve
should clique do down solve
wait parent down message
do down solve
exit