add findMinimumSpanningTree to FactorGraph

.cproject

@@ -32,7 +32,7 @@
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.macosx.base.217086069" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.1629258328" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base">
-<option id="gnu.cpp.compiler.option.include.paths.1552452888" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+								<option id="gnu.cpp.compiler.option.include.paths.1552452888" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${HOME}/include&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1833545667" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>

cpp/FactorGraph-inl.h

@@ -18,10 +18,16 @@
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/format.hpp>
+#include <boost/graph/graph_traits.hpp>
+#include <boost/graph/adjacency_list.hpp>
+#include <boost/graph/kruskal_min_spanning_tree.hpp>
 #include <colamd/colamd.h>
 #include "Ordering.h"
 #include "FactorGraph.h"
 
+
+
+
 // trick from some reading group
 #define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
 
@@ -268,6 +274,63 @@ void FactorGraph<Factor>::associateFactor(int index, sharedFactor factor) {
   }
 }
 
+/* ************************************************************************* */
+template<class Factor>
+vector<pair<string, string> > FactorGraph<Factor>::findMinimumSpanningTree() const {
+
+	typedef boost::adjacency_list<
+		boost::vecS, boost::vecS, boost::undirectedS,
+		boost::property<boost::vertex_name_t, string>,
+		boost::property<boost::edge_weight_t, int> > Graph;
+	typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
+	typedef boost::graph_traits<Graph>::edge_descriptor Edge;
+
+	// convert the factor graph to boost graph
+	Graph g(0);
+	map<string, Vertex> key2vertex;
+	Vertex v1, v2;
+	BOOST_FOREACH(sharedFactor factor, factors_){
+		if (factor->keys().size() > 2)
+			throw(invalid_argument("findMinimumSpanningTree: only support factors with two keys"));
+
+		if (factor->keys().size() == 1)
+			continue;
+
+		string key1 = factor->keys().front();
+		string key2 = factor->keys().back();
+
+		if (key2vertex.find(key1) == key2vertex.end()) {
+			   v1 = add_vertex(key1, g);
+			   key2vertex.insert(make_pair(key1, v1));
+			 } else
+			   v1 = key2vertex[key1];
+
+		if (key2vertex.find(key2) == key2vertex.end()) {
+			 v2 = add_vertex(key2, g);
+			 key2vertex.insert(make_pair(key2, v2));
+		 } else
+			 v2 = key2vertex[key2];
+
+		boost::property<boost::edge_weight_t, int> edge_property(1);  // assume constant edge weight here
+		boost::add_edge(v1, v2, edge_property, g);
+	}
+
+	// find minimum spanning tree
+	vector<Edge> spanning_tree;
+	boost::kruskal_minimum_spanning_tree(g, back_inserter(spanning_tree));
+
+	// convert edge to skin
+	vector<pair<string, string> > tree;
+	for (vector<Edge>::iterator ei = spanning_tree.begin(); ei
+				!= spanning_tree.end(); ++ei) {
+		string key1 = boost::get(boost::vertex_name, g, boost::source(*ei,g));
+		string key2 = boost::get(boost::vertex_name, g, boost::target(*ei,g));
+		tree.push_back(make_pair(key1, key2));
+	}
+
+	return tree;
+}
+
 /* ************************************************************************* */
 /* find factors and remove them from the factor graph: O(n)                  */
 /* ************************************************************************* */

cpp/FactorGraph.h

@@ -116,6 +116,11 @@ namespace gtsam {
      */
 		std::vector<sharedFactor> findAndRemoveFactors(const std::string& key);
 
+		/**
+		 * find the minimum spanning tree
+		 */
+		std::vector<std::pair<std::string, std::string> > findMinimumSpanningTree() const;
+
 	private:
 		/** Associate factor index with the variables connected to the factor */
 		void associateFactor(int index, sharedFactor factor);

cpp/GaussianFactorGraph.cpp

@@ -319,4 +319,3 @@ boost::shared_ptr<VectorConfig> GaussianFactorGraph::conjugateGradientDescent_(
 }
 
 /* ************************************************************************* */
-

cpp/GaussianFactorGraph.h

@@ -218,6 +218,7 @@ namespace gtsam {
 		boost::shared_ptr<VectorConfig> conjugateGradientDescent_(
 				const VectorConfig& x0, bool verbose = false, double epsilon = 1e-3,
 				size_t maxIterations = 0) const;
+
   };
 
 }

cpp/testGaussianFactorGraph.cpp

@@ -730,6 +730,23 @@ TEST( GaussianFactorGraph, constrained_multi2 )
 	CHECK(assert_equal(expected, actual));
 }
 
+/* ************************************************************************* */
+TEST( GaussianFactorGraph, findMinimumSpanningTree )
+{
+	GaussianFactorGraph g;
+	Matrix I = eye(2);
+	Vector b = Vector_(0, 0, 0);
+	g.add("x1", I, "x2", I, b, 0);
+	g.add("x1", I, "x3", I, b, 0);
+	g.add("x1", I, "x4", I, b, 0);
+	g.add("x2", I, "x3", I, b, 0);
+	g.add("x2", I, "x4", I, b, 0);
+	g.add("x3", I, "x4", I, b, 0);
+
+	vector<pair<string, string> > tree = g.findMinimumSpanningTree();
+	LONGS_EQUAL(3,tree.size());
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */