12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Formatting only

release/4.3a0
dellaert 2015-06-21 12:57:26 -07:00
parent 67013cba05
commit 0d0a9e5b16
1 changed files with 105 additions and 104 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
gtsam/inference/ClusterTree.h
View File

@ -13,8 +13,7 @@
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Ordering.h>
namespace gtsam
{
namespace gtsam {
/**
* A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman:
@ -23,8 +22,7 @@ namespace gtsam
* \nosubgrouping
*/
template<class BAYESTREE, class GRAPH>
class ClusterTree
{
class ClusterTree {
public:
typedef GRAPH FactorGraphType; ///< The factor graph type
typedef typename GRAPH::FactorType FactorType; ///< The type of factors
@ -41,8 +39,10 @@ namespace gtsam
typedef FastVector<sharedFactor> Factors;
typedef FastVector<boost::shared_ptr<Cluster> > Children;
Cluster() {}
Cluster(Key key, const Factors& factors) : factors(factors) {
Cluster() {
}
Cluster(Key key, const Factors& factors) :
factors(factors) {
orderedFrontalKeys.push_back(key);
}
@ -51,10 +51,13 @@ namespace gtsam
Children children; ///< sub-trees
int problemSize_;
int problemSize() const { return problemSize_; }
int problemSize() const {
return problemSize_;
}
/** print this node */
void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const;
};
typedef boost::shared_ptr<Cluster> sharedCluster; ///< Shared pointer to Cluster
@ -124,7 +127,5 @@ namespace gtsam
};
}