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operator[] to retrieve clique

release/4.3a0
Frank Dellaert 2009-11-06 05:55:29 +00:00
parent e1716a39cd
commit cd313e2f82
2 changed files with 12 additions and 11 deletions
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14
cpp/BayesTree-inl.h
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@ -78,7 +78,7 @@ namespace gtsam {
{ {
node_ptr new_clique(new Node(conditional)); node_ptr new_clique(new Node(conditional));
nodes_.insert(make_pair(conditional->key(), new_clique)); nodes_.insert(make_pair(conditional->key(), new_clique));
if (parent_clique!=NULL) { if (parent_clique!=NULL) {
new_clique->parent_ = parent_clique; new_clique->parent_ = parent_clique;
parent_clique->children_.push_back(new_clique); parent_clique->children_.push_back(new_clique);
} }
@ -102,10 +102,7 @@ namespace gtsam {
// otherwise, find the parent clique // otherwise, find the parent clique
string parent = parents.front(); string parent = parents.front();
typename Nodes::const_iterator it = nodes_.find(parent); node_ptr parent_clique = (*this)[parent];
if (it == nodes_.end()) throw(invalid_argument(
"BayesTree::insert('"+key+"'): parent '" + parent + "' not yet inserted"));
node_ptr parent_clique = it->second;
// if the parents and parent clique have the same size, add to parent clique // if the parents and parent clique have the same size, add to parent clique
if (parent_clique->size() == parents.size()) { if (parent_clique->size() == parents.size()) {
@ -130,13 +127,8 @@ namespace gtsam {
template<class Factor> template<class Factor>
boost::shared_ptr<Conditional> BayesTree<Conditional>::marginal(const string& key) const { boost::shared_ptr<Conditional> BayesTree<Conditional>::marginal(const string& key) const {
// find the clique to which key belongs
typename Nodes::const_iterator it = nodes_.find(key);
if (it == nodes_.end()) throw(invalid_argument(
"BayesTree::marginal('"+key+"'): key not found"));
// get clique containing key, and remove all factors below key // get clique containing key, and remove all factors below key
node_ptr clique = it->second; node_ptr clique = (*this)[key];
Ordering ordering = clique->ordering(); Ordering ordering = clique->ordering();
FactorGraph<Factor> graph(*clique); FactorGraph<Factor> graph(*clique);
while(ordering.front()!=key) { while(ordering.front()!=key) {

9
cpp/BayesTree.h
View File

@ -93,6 +93,15 @@ namespace gtsam {
/** return root clique */ /** return root clique */
boost::shared_ptr<BayesNet<Conditional> > root() const {return root_;} boost::shared_ptr<BayesNet<Conditional> > root() const {return root_;}
/** find the clique to which key belongs */
node_ptr operator[](const std::string& key) const {
typename Nodes::const_iterator it = nodes_.find(key);
if (it == nodes_.end())
throw(std::invalid_argument("BayesTree::operator['"+ key + "'): key not found"));
node_ptr clique = it->second;
return clique;
}
/** return marginal on any variable */ /** return marginal on any variable */
template<class Factor> template<class Factor>
boost::shared_ptr<Conditional> marginal(const std::string& key) const; boost::shared_ptr<Conditional> marginal(const std::string& key) const;