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

Made SymbolicBayesTree and GaussianBayesTree subclasses of templated BayesTree

release/4.3a0
jdurand7 2012-09-14 20:52:22 +00:00
parent b8ccc78a16
commit 5cdcdaa448
1 changed files with 15 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
gtsam.h
View File

@ -802,8 +802,9 @@ virtual class BayesTree {
bool equals(const This& other, double tol) const;
//Standard Interface
//size_t findParentClique(const gtsam::IndexVector& parents) const;
//size_t findParentClique(const gtsam::IndexVector& parents) const;
size_t size();
void saveGraph(string s) const;
CLIQUE* root() const;
void clear();
void deleteCachedShorcuts();
@ -859,7 +860,9 @@ virtual class SymbolicBayesNet : gtsam::SymbolicBayesNetBase {
};
#include <gtsam/inference/SymbolicFactorGraph.h>
class SymbolicBayesTree {
typedef gtsam::BayesTreeClique<gtsam::IndexConditional> SymbolicBayesTreeClique;
typedef gtsam::BayesTree<gtsam::IndexConditional, gtsam::SymbolicBayesTreeClique> SymbolicBayesTreeBase;
virtual class SymbolicBayesTree : gtsam::SymbolicBayesTreeBase {
// Standard Constructors and Named Constructors
SymbolicBayesTree();
SymbolicBayesTree(const gtsam::SymbolicBayesNet& bn);
@ -867,15 +870,8 @@ class SymbolicBayesTree {
// FIXME: wrap needs to understand std::list
//SymbolicBayesTree(const gtsam::SymbolicBayesNet& bayesNet, std::list<gtsam::SymbolicBayesTree> subtrees);
// Testable
void print(string s) const;
bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;
// Standard interface
size_t findParentClique(const gtsam::IndexConditional& parents) const;
size_t size() const;
void saveGraph(string s) const;
void clear();
// TODO: There are many other BayesTree member functions which might be of use
};
@ -1120,6 +1116,16 @@ double determinant(const gtsam::GaussianBayesNet& bayesNet);
gtsam::VectorValues gradient(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& x0);
void gradientAtZero(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& g);*/
#include <gtsam/linear/GaussianBayesTree.h>
typedef gtsam::BayesTreeClique<gtsam::GaussianConditional> GaussianBayesTreeClique;
typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::GaussianBayesTreeClique> GaussianBayesTreeBase;
virtual class GaussianBayesTree : gtsam::GaussianBayesTreeBase {
// Standard Constructors and Named Constructors
GaussianBayesTree();
GaussianBayesTree(const gtsam::GaussianBayesNet& bn);
GaussianBayesTree(const gtsam::GaussianBayesNet& other);
};
virtual class GaussianFactor {
void print(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
@ -1277,9 +1283,6 @@ class Errors {
//Non-Class functions for Errors
//double dot(const gtsam::Errors& A, const gtsam::Errors& b);
typedef gtsam::BayesTreeClique<gtsam::GaussianConditional> GaussianBayesTreeClique;
typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::GaussianBayesTreeClique> GaussianBayesTree;
virtual class GaussianISAM : gtsam::GaussianBayesTree {
//Constructor
GaussianISAM();