/* * SymbolicFactorGraph.cpp * * Created on: Oct 29, 2009 * Author: Frank Dellaert */ #include #include "Ordering.h" #include "SymbolicFactorGraph.h" #include "SymbolicBayesNet.h" #include "inference-inl.h" using namespace std; namespace gtsam { // Explicitly instantiate so we don't have to include everywhere template class FactorGraph; /* ************************************************************************* */ boost::shared_ptr SymbolicFactorGraph::eliminateOne(const std::string& key){ return gtsam::eliminateOne(*this, key); } /* ************************************************************************* */ SymbolicBayesNet SymbolicFactorGraph::eliminate(const Ordering& ordering) { SymbolicBayesNet bayesNet; BOOST_FOREACH(string key, ordering) { SymbolicConditional::shared_ptr conditional = gtsam::eliminateOne(*this,key); bayesNet.push_back(conditional); } return bayesNet; } /* ************************************************************************* */ }