split JunctionTree to GaussianJunctionTree

inference/GaussianFactorGraph.cpp

@@ -16,7 +16,7 @@
 #include "FactorGraph-inl.h"
 #include "inference-inl.h"
 #include "iterative.h"
-#include "JunctionTree-inl.h"
+#include "GaussianJunctionTree-inl.h"
 
 using namespace std;
 using namespace gtsam;

inference/GaussianJunctionTree-inl.h

@@ -0,0 +1,55 @@
+/*
+ * GaussianJunctionTree-inl.h
+ *
+ *   Created on: Jul 12, 2010
+ *       Author: nikai
+ *  Description: the Gaussian junction tree
+ */
+
+#pragma once
+
+#include <boost/foreach.hpp>
+
+#include "JunctionTree-inl.h"
+#include "GaussianJunctionTree.h"
+
+namespace gtsam {
+
+	using namespace std;
+
+	/* ************************************************************************* */
+	/**
+	 * GaussianJunctionTree
+	 */
+	template <class FG>
+	void GaussianJunctionTree<FG>::btreeBackSubstitue(typename BayesTree<GaussianConditional>::sharedClique current, VectorConfig& config) {
+		// solve the bayes net in the current node
+		typename BayesNet<GaussianConditional>::const_reverse_iterator it = current->rbegin();
+		for (; it!=current->rend(); it++) {
+			Vector x = (*it)->solve(config); // Solve for that variable
+			config.insert((*it)->key(),x);   // store result in partial solution
+		}
+
+		// solve the bayes nets in the child nodes
+		typedef typename BayesTree<GaussianConditional>::sharedClique sharedBayesClique;
+		BOOST_FOREACH(sharedBayesClique child, current->children_) {
+			btreeBackSubstitue(child, config);
+		}
+	}
+
+	/* ************************************************************************* */
+	template <class FG>
+	VectorConfig GaussianJunctionTree<FG>::optimize() {
+		// eliminate from leaves to the root
+		typedef JunctionTree<FG> Base;
+		BayesTree<GaussianConditional> bayesTree;
+				this->eliminate<GaussianConditional>();
+
+		// back-substitution
+		VectorConfig result;
+		btreeBackSubstitue(bayesTree.root(), result);
+		return result;
+	}
+
+
+} //namespace gtsam

inference/GaussianJunctionTree.h

@@ -0,0 +1,42 @@
+/*
+ * GaussianJunctionTree.h
+ *
+ *   Created on: Jul 12, 2010
+ *       Author: nikai
+ *  Description: the Gaussian junction tree
+ */
+
+#pragma once
+
+#include "JunctionTree.h"
+#include "GaussianConditional.h"
+#include "GaussianFactorGraph.h"
+
+namespace gtsam {
+
+	/* ************************************************************************* */
+	/**
+	 * GaussianJunctionTree that does the optimization
+	 */
+	template <class FG>
+	class GaussianJunctionTree: public JunctionTree<FG> {
+	public:
+		typedef JunctionTree<FG> Base;
+		typedef typename JunctionTree<FG>::sharedClique sharedClique;
+
+	protected:
+		// back-substitute in topological sort order (parents first)
+		void btreeBackSubstitue(typename BayesTree<GaussianConditional>::sharedClique current, VectorConfig& config);
+
+	public :
+
+		GaussianJunctionTree() : Base() {}
+
+		// constructor
+		GaussianJunctionTree(FG& fg, const Ordering& ordering) : Base(fg, ordering) {}
+
+		// optimize the linear graph
+		VectorConfig optimize();
+	}; // GaussianJunctionTree
+
+} // namespace gtsam

inference/JunctionTree-inl.h

@@ -156,38 +156,4 @@ namespace gtsam {
 		return root_->equals(*other.root_);
 	}
 
-	/* ************************************************************************* */
-	/**
-	 * GaussianJunctionTree
-	 */
-	template <class FG>
-	void GaussianJunctionTree<FG>::btreeBackSubstitue(typename BayesTree<GaussianConditional>::sharedClique current, VectorConfig& config) {
-		// solve the bayes net in the current node
-		typename BayesNet<GaussianConditional>::const_reverse_iterator it = current->rbegin();
-		for (; it!=current->rend(); it++) {
-			Vector x = (*it)->solve(config); // Solve for that variable
-			config.insert((*it)->key(),x);   // store result in partial solution
-		}
-
-		// solve the bayes nets in the child nodes
-		typedef typename BayesTree<GaussianConditional>::sharedClique sharedBayesClique;
-		BOOST_FOREACH(sharedBayesClique child, current->children_) {
-			btreeBackSubstitue(child, config);
-		}
-	}
-
-	/* ************************************************************************* */
-	template <class FG>
-	VectorConfig GaussianJunctionTree<FG>::optimize() {
-		// eliminate from leaves to the root
-		typedef JunctionTree<FG> Base;
-		BayesTree<GaussianConditional> bayesTree;
-				this->eliminate<GaussianConditional>();
-
-		// back-substitution
-		VectorConfig result;
-		btreeBackSubstitue(bayesTree.root(), result);
-		return result;
-	}
-
 } //namespace gtsam

inference/JunctionTree.h

@@ -10,10 +10,8 @@
 
 #include <set>
 #include <boost/shared_ptr.hpp>
-#include <boost/function.hpp>
-#include "GaussianConditional.h"
-#include "GaussianFactorGraph.h"
 #include "BayesTree.h"
+#include "SymbolicConditional.h"
 
 namespace gtsam {
 
@@ -102,29 +100,4 @@ namespace gtsam {
 
 	}; // JunctionTree
 
-	/* ************************************************************************* */
-	/**
-	 * GaussianJunctionTree that does the optimization
-	 */
-	template <class FG>
-	class GaussianJunctionTree: public JunctionTree<FG> {
-	public:
-		typedef JunctionTree<FG> Base;
-		typedef typename JunctionTree<FG>::sharedClique sharedClique;
-
-	protected:
-		// back-substitute in topological sort order (parents first)
-		void btreeBackSubstitue(typename BayesTree<GaussianConditional>::sharedClique current, VectorConfig& config);
-
-	public :
-
-		GaussianJunctionTree() : Base() {}
-
-		// constructor
-		GaussianJunctionTree(FG& fg, const Ordering& ordering) : Base(fg, ordering) {}
-
-		// optimize the linear graph
-		VectorConfig optimize();
-	}; // GaussianJunctionTree
-
 } // namespace gtsam

inference/Makefile.am

@@ -25,11 +25,12 @@ headers += inference.h inference-inl.h
 headers += graph.h graph-inl.h
 headers += FactorGraph.h FactorGraph-inl.h
 headers += JunctionTree.h JunctionTree-inl.h
+headers += GaussianJunctionTree.h GaussianJunctionTree-inl.h
 headers += BayesNet.h BayesNet-inl.h
 headers += BayesTree.h BayesTree-inl.h
 headers += ISAM.h ISAM-inl.h
 headers += ISAM2.h ISAM2-inl.h
-check_PROGRAMS += testFactorGraph testJunctionTree testOrdering
+check_PROGRAMS += testFactorGraph testGaussianJunctionTree testOrdering
 check_PROGRAMS += testBayesTree testISAM
 
 #----------------------------------------------------------------------------------------------------

inference/testGaussianJunctionTree.cpp

@@ -16,7 +16,7 @@ using namespace boost::assign;
 
 #define GTSAM_MAGIC_KEY
 
-#include "JunctionTree-inl.h"
+#include "GaussianJunctionTree-inl.h"
 
 using namespace std;
 using namespace gtsam;

tests/Makefile.am

@@ -6,7 +6,7 @@
 check_PROGRAMS = testBayesNetPreconditioner testConstraintOptimizer 
 check_PROGRAMS += testGaussianBayesNet testGaussianFactor testGaussianFactorGraph 
 check_PROGRAMS += testGaussianISAM testGaussianISAM2 testGraph
-check_PROGRAMS += testInference testIterative testJunctionTree 
+check_PROGRAMS += testInference testIterative testGaussianJunctionTree 
 check_PROGRAMS += testNonlinearEquality testNonlinearFactor testNonlinearFactorGraph
 check_PROGRAMS += testNonlinearOptimizer testSQP testSubgraphPreconditioner
 check_PROGRAMS += testSymbolicBayesNet testSymbolicFactorGraph testTupleConfig

tests/testGaussianJunctionTree.cpp

@@ -17,7 +17,7 @@ using namespace boost::assign;
 #define GTSAM_MAGIC_KEY
 
 #include "smallExample.h"
-#include "JunctionTree-inl.h"
+#include "GaussianJunctionTree-inl.h"
 
 using namespace std;
 using namespace gtsam;