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discreteKeys method

release/4.3a0
Frank Dellaert 2022-01-22 11:06:06 -05:00
parent 4cba05a2f7
commit 785b39d3c0
2 changed files with 19 additions and 2 deletions
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16
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -43,11 +43,25 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
KeySet DiscreteFactorGraph::keys() const { KeySet DiscreteFactorGraph::keys() const {
KeySet keys; KeySet keys;
for(const sharedFactor& factor: *this) for (const sharedFactor& factor : *this) {
if (factor) keys.insert(factor->begin(), factor->end()); if (factor) keys.insert(factor->begin(), factor->end());
}
return keys; return keys;
} }
/* ************************************************************************* */
DiscreteKeys DiscreteFactorGraph::discreteKeys() const {
DiscreteKeys result;
for (auto&& factor : *this) {
if (auto p = boost::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
DiscreteKeys factor_keys = p->discreteKeys();
result.insert(result.end(), factor_keys.begin(), factor_keys.end());
}
}
return result;
}
/* ************************************************************************* */ /* ************************************************************************* */
DecisionTreeFactor DiscreteFactorGraph::product() const { DecisionTreeFactor DiscreteFactorGraph::product() const {
DecisionTreeFactor result; DecisionTreeFactor result;

3
gtsam/discrete/DiscreteFactorGraph.h
View File

@ -114,6 +114,9 @@ class GTSAM_EXPORT DiscreteFactorGraph
/** Return the set of variables involved in the factors (set union) */ /** Return the set of variables involved in the factors (set union) */
KeySet keys() const; KeySet keys() const;
/// Return the DiscreteKeys in this factor graph.
DiscreteKeys discreteKeys() const;
/** return product of all factors as a single factor */ /** return product of all factors as a single factor */
DecisionTreeFactor product() const; DecisionTreeFactor product() const;