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release/4.3a0
Richard Roberts 2011-09-08 13:29:51 +00:00
parent fbc8c32ef9
commit d16f29dec7
1 changed files with 19 additions and 11 deletions
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30
gtsam/inference/Factor.h
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@ -34,6 +34,10 @@ template<class KEY> class Conditional;
/**
* This is the base class for all factor types. It is templated on a KEY type,
* which will be the type used to label variables. Key types currently in use
* in gtsam are Index with symbolic (IndexFactor, SymbolicFactorGraph) and
* Gaussian factors (GaussianFactor, JacobianFactor, HessianFactor, GaussianFactorGraph),
* and Symbol with nonlinear factors (NonlinearFactor, NonlinearFactorGraph).
* though currently only IndexFactor and IndexConditional derive from this
* class, using Index keys. This class does not store any data other than its
* keys. Derived classes store data such as matrices and probability tables.
@ -41,33 +45,37 @@ template<class KEY> class Conditional;
* Note that derived classes *must* redefine the ConditionalType and shared_ptr
* typedefs to refer to the associated conditional and shared_ptr types of the
* derived class. See IndexFactor, JacobianFactor, etc. for examples.
*
* This class is \bold{not} virtual for performance reasons - derived symbolic classes,
* IndexFactor and IndexConditional, need to be created and destroyed quickly
* during symbolic elimination. GaussianFactor and NonlinearFactor are virtual.
*/
template<typename KEY>
class Factor : public Testable<Factor<KEY> > {
public:
typedef KEY Key;
typedef Factor<Key> This;
typedef KEY Key; ///< The KEY template parameter
typedef Factor<Key> This; ///< This class
/**
* Typedef to the conditional type obtained by eliminating this factor.
* Derived classes must redefine this.
* Typedef to the conditional type obtained by eliminating this factor,
* derived classes must redefine this.
*/
typedef Conditional<Key> ConditionalType;
/** A shared_ptr to this class. Derived classes must redefine this. */
/// A shared_ptr to this class, derived classes must redefine this.
typedef boost::shared_ptr<Factor> shared_ptr;
/** Iterator over keys */
/// Iterator over keys
typedef typename std::vector<Key>::iterator iterator;
/** Const iterator over keys */
/// Const iterator over keys
typedef typename std::vector<Key>::const_iterator const_iterator;
protected:
// The keys involved in this factor
/// The keys involved in this factor
std::vector<Key> keys_;
friend class JacobianFactor;
@ -75,8 +83,8 @@ protected:
protected:
// Internal check to make sure keys are unique. If NDEBUG is defined, this
// is empty and optimized out.
/// Internal consistency check that is run frequently when in debug mode.
/// If NDEBUG is defined, this is empty and optimized out.
void assertInvariants() const;
public:
@ -84,7 +92,7 @@ public:
/** Copy constructor */
Factor(const This& f);
/** Construct from derived type */
/** Construct from conditional, calls ConditionalType::toFactor() */
Factor(const ConditionalType& c);
/** Constructor from a collection of keys */