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Wrapped BayesNet templates and made both SymbolicBayesNet and GaussianBayesNet derived classes.

release/4.3a0
jdurand7 2012-09-14 19:59:10 +00:00
parent e9e40c733d
commit b8ccc78a16
1 changed files with 75 additions and 65 deletions
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140
gtsam.h
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@ -769,29 +769,90 @@ class IndexConditional {
void permuteWithInverse(const gtsam::Permutation& inversePermutation); void permuteWithInverse(const gtsam::Permutation& inversePermutation);
}; };
#include <gtsam/inference/BayesNet.h>
template<CONDITIONAL>
virtual class BayesNet {
// Testable
void print(string s) const;
bool equals(const This& other, double tol) const;
// Standard interface
size_t size() const;
void printStats(string s) const;
CONDITIONAL* front() const;
CONDITIONAL* back() const;
void push_back(CONDITIONAL* conditional);
void push_front(CONDITIONAL* conditional);
void push_back(This& conditional);
void push_front(This& conditional);
void pop_front();
void permuteWithInverse(const gtsam::Permutation& inversePermutation);
bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
};
#include <gtsam/inference/BayesTree.h>
template<CONDITIONAL, CLIQUE>
virtual class BayesTree {
//Constructors
BayesTree();
// Testable
void print(string s);
bool equals(const This& other, double tol) const;
//Standard Interface
//size_t findParentClique(const gtsam::IndexVector& parents) const;
size_t size();
CLIQUE* root() const;
void clear();
void deleteCachedShorcuts();
void insert(const CLIQUE* subtree);
};
template<CONDITIONAL>
virtual class BayesTreeClique {
BayesTreeClique();
BayesTreeClique(CONDITIONAL* conditional);
// BayesTreeClique(const std::pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
bool equals(const This& other, double tol) const;
void print(string s) const;
void printTree() const; // Default indent of ""
void printTree(string indent) const;
CONDITIONAL* conditional() const;
bool isRoot() const;
size_t treeSize() const;
// const std::list<derived_ptr>& children() const { return children_; }
// derived_ptr parent() const { return parent_.lock(); }
void permuteWithInverse(const gtsam::Permutation& inversePermutation);
bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
// FIXME: need wrapped versions graphs, BayesNet
// BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
void deleteCachedShorcuts();
};
#include <gtsam/inference/SymbolicFactorGraph.h> #include <gtsam/inference/SymbolicFactorGraph.h>
class SymbolicBayesNet { typedef gtsam::BayesNet<gtsam::IndexConditional> SymbolicBayesNetBase;
virtual class SymbolicBayesNet : gtsam::SymbolicBayesNetBase {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
SymbolicBayesNet(); SymbolicBayesNet();
SymbolicBayesNet(const gtsam::SymbolicBayesNet& bn); SymbolicBayesNet(const gtsam::SymbolicBayesNet& bn);
SymbolicBayesNet(const gtsam::IndexConditional* conditional); SymbolicBayesNet(const gtsam::IndexConditional* conditional);
// Testable
void print(string s) const;
bool equals(const gtsam::SymbolicBayesNet& other, double tol) const;
// Standard interface // Standard interface
size_t size() const;
void push_back(const gtsam::IndexConditional* conditional);
//TODO:Throws parse error //TODO:Throws parse error
//void push_back(const gtsam::SymbolicBayesNet bn); //void push_back(const gtsam::SymbolicBayesNet bn);
void push_front(const gtsam::IndexConditional* conditional);
//TODO:Throws parse error //TODO:Throws parse error
//void push_front(const gtsam::SymbolicBayesNet bn); //void push_front(const gtsam::SymbolicBayesNet bn);
//Advanced Interface //Advanced Interface
gtsam::IndexConditional* front() const;
gtsam::IndexConditional* back() const;
void pop_front(); void pop_front();
void permuteWithInverse(const gtsam::Permutation& inversePermutation); void permuteWithInverse(const gtsam::Permutation& inversePermutation);
bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
@ -900,54 +961,6 @@ class VariableIndex {
void permuteInPlace(const gtsam::Permutation& permutation); void permuteInPlace(const gtsam::Permutation& permutation);
}; };
#include <gtsam/inference/BayesTree.h>
template<CONDITIONAL, CLIQUE>
virtual class BayesTree {
//Constructors
BayesTree();
//Standard Interface
bool equals(const This& other, double tol) const;
void print(string s);
//size_t findParentClique(const gtsam::IndexVector& parents) const;
size_t size();
CLIQUE* root() const;
void clear();
void deleteCachedShorcuts();
void insert(const CLIQUE* subtree);
};
typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::ISAM2Clique> ISAM2BayesTree;
template<CONDITIONAL>
virtual class BayesTreeClique {
BayesTreeClique();
BayesTreeClique(CONDITIONAL* conditional);
// BayesTreeClique(const std::pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
bool equals(const This& other, double tol) const;
void print(string s) const;
void printTree() const; // Default indent of ""
void printTree(string indent) const;
CONDITIONAL* conditional() const;
bool isRoot() const;
size_t treeSize() const;
// const std::list<derived_ptr>& children() const { return children_; }
// derived_ptr parent() const { return parent_.lock(); }
void permuteWithInverse(const gtsam::Permutation& inversePermutation);
bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
// FIXME: need wrapped versions graphs, BayesNet
// BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
void deleteCachedShorcuts();
};
//************************************************************************* //*************************************************************************
// linear // linear
//************************************************************************* //*************************************************************************
@ -1082,15 +1095,11 @@ class GaussianDensity {
Matrix covariance() const; Matrix covariance() const;
}; };
class GaussianBayesNet { typedef gtsam::BayesNet<gtsam::GaussianConditional> GaussianBayesNetBase;
virtual class GaussianBayesNet : gtsam::GaussianBayesNetBase {
//Constructors //Constructors
GaussianBayesNet(); GaussianBayesNet();
GaussianBayesNet(const gtsam::GaussianConditional* conditional);
//Standard Interface
void print(string s) const;
bool equals(const gtsam::GaussianBayesNet& cbn, double tol) const;
void push_back(gtsam::GaussianConditional* conditional);
void push_front(gtsam::GaussianConditional* conditional);
}; };
//Non-Class methods found in GaussianBayesNet.h //Non-Class methods found in GaussianBayesNet.h
@ -1750,6 +1759,7 @@ class ISAM2Result {
size_t getCliques() const; size_t getCliques() const;
}; };
typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::ISAM2Clique> ISAM2BayesTree;
virtual class ISAM2 : gtsam::ISAM2BayesTree { virtual class ISAM2 : gtsam::ISAM2BayesTree {
ISAM2(); ISAM2();
ISAM2(const gtsam::ISAM2Params& params); ISAM2(const gtsam::ISAM2Params& params);