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Cliques class

release/4.3a0
Frank Dellaert 2009-11-22 16:46:29 +00:00
parent 7ce62f1626
commit 6f11c0803b
3 changed files with 12 additions and 5 deletions
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4
cpp/BayesTree-inl.h
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@ -348,11 +348,11 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class Conditional>
template<class Factor> template<class Factor>
pair<FactorGraph<Factor>, list<typename BayesTree<Conditional>::sharedClique> > pair<FactorGraph<Factor>, typename BayesTree<Conditional>::Cliques>
BayesTree<Conditional>::removePath(sharedClique clique) { BayesTree<Conditional>::removePath(sharedClique clique) {
FactorGraph<Factor> factors; FactorGraph<Factor> factors;
list<sharedClique> orphans; Cliques orphans;
// base case is NULL, if so we do nothing and return empties above // base case is NULL, if so we do nothing and return empties above
if (clique!=NULL) { if (clique!=NULL) {

11
cpp/BayesTree.h
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@ -79,10 +79,17 @@ namespace gtsam {
/** return the joint P(C1,C2), where C1==this. TODO: not a method? */ /** return the joint P(C1,C2), where C1==this. TODO: not a method? */
template<class Factor> template<class Factor>
FactorGraph<Factor> joint(shared_ptr C2, shared_ptr root); FactorGraph<Factor> joint(shared_ptr C2, shared_ptr root);
}; };
// typedef for shared pointers to cliques
typedef boost::shared_ptr<Clique> sharedClique; typedef boost::shared_ptr<Clique> sharedClique;
// A convenience class for a list of shared cliques
struct Cliques : public std::list<sharedClique>, public Testable<Cliques> {
void print(const std::string& s = "") const {}
bool equals(const Cliques& other, double tol = 1e-9) const { return false; }
};
private: private:
/** Map from keys to Clique */ /** Map from keys to Clique */
@ -157,7 +164,7 @@ namespace gtsam {
/** Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots */ /** Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots */
template<class Factor> template<class Factor>
std::pair<FactorGraph<Factor>, std::list<sharedClique> > removePath(sharedClique clique); std::pair<FactorGraph<Factor>, Cliques> removePath(sharedClique clique);
}; // BayesTree }; // BayesTree

2
cpp/testBayesTree.cpp
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@ -333,7 +333,7 @@ TEST( BayesTree, removePath )
expected.push_factor("A","C"); expected.push_factor("A","C");
FactorGraph<SymbolicFactor> factors; FactorGraph<SymbolicFactor> factors;
list<SymbolicBayesTree::sharedClique> orphans; SymbolicBayesTree::Cliques orphans;
boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]); boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors)); CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));