diff --git a/gtsam.h b/gtsam.h index d4b3c0767..250d64f0b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -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 -class SymbolicBayesTree { +typedef gtsam::BayesTreeClique SymbolicBayesTreeClique; +typedef gtsam::BayesTree 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 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 +typedef gtsam::BayesTreeClique GaussianBayesTreeClique; +typedef gtsam::BayesTree 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 GaussianBayesTreeClique; -typedef gtsam::BayesTree GaussianBayesTree; - virtual class GaussianISAM : gtsam::GaussianBayesTree { //Constructor GaussianISAM();