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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, * 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 * though currently only IndexFactor and IndexConditional derive from this
* class, using Index keys. This class does not store any data other than its * 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. * 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 * Note that derived classes *must* redefine the ConditionalType and shared_ptr
* typedefs to refer to the associated conditional and shared_ptr types of the * typedefs to refer to the associated conditional and shared_ptr types of the
* derived class. See IndexFactor, JacobianFactor, etc. for examples. * 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> template<typename KEY>
class Factor : public Testable<Factor<KEY> > { class Factor : public Testable<Factor<KEY> > {
public: public:
typedef KEY Key; typedef KEY Key; ///< The KEY template parameter
typedef Factor<Key> This; typedef Factor<Key> This; ///< This class
/** /**
* Typedef to the conditional type obtained by eliminating this factor. * Typedef to the conditional type obtained by eliminating this factor,
* Derived classes must redefine this. * derived classes must redefine this.
*/ */
typedef Conditional<Key> ConditionalType; 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; typedef boost::shared_ptr<Factor> shared_ptr;
/** Iterator over keys */ /// Iterator over keys
typedef typename std::vector<Key>::iterator iterator; typedef typename std::vector<Key>::iterator iterator;
/** Const iterator over keys */ /// Const iterator over keys
typedef typename std::vector<Key>::const_iterator const_iterator; typedef typename std::vector<Key>::const_iterator const_iterator;
protected: protected:
// The keys involved in this factor /// The keys involved in this factor
std::vector<Key> keys_; std::vector<Key> keys_;
friend class JacobianFactor; friend class JacobianFactor;
@ -75,8 +83,8 @@ protected:
protected: protected:
// Internal check to make sure keys are unique. If NDEBUG is defined, this /// Internal consistency check that is run frequently when in debug mode.
// is empty and optimized out. /// If NDEBUG is defined, this is empty and optimized out.
void assertInvariants() const; void assertInvariants() const;
public: public:
@ -84,7 +92,7 @@ public:
/** Copy constructor */ /** Copy constructor */
Factor(const This& f); Factor(const This& f);
/** Construct from derived type */ /** Construct from conditional, calls ConditionalType::toFactor() */
Factor(const ConditionalType& c); Factor(const ConditionalType& c);
/** Constructor from a collection of keys */ /** Constructor from a collection of keys */