66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
/**
|
|
* @file Factor.cpp
|
|
* @brief
|
|
* @author Richard Roberts
|
|
* @created Sep 1, 2010
|
|
*/
|
|
|
|
#include <gtsam/inference/Factor-inl.h>
|
|
#include <gtsam/inference/Conditional.h>
|
|
|
|
#include <iostream>
|
|
#include <boost/foreach.hpp>
|
|
#include <boost/iterator/transform_iterator.hpp>
|
|
#include <boost/lambda/bind.hpp>
|
|
#include <boost/lambda/lambda.hpp>
|
|
|
|
using namespace std;
|
|
using namespace boost::lambda;
|
|
|
|
namespace gtsam {
|
|
|
|
/* ************************************************************************* */
|
|
Factor::Factor(const Factor& f) : keys_(f.keys_), permuted_(f.permuted_) {}
|
|
|
|
/* ************************************************************************* */
|
|
void Factor::print(const std::string& s) const {
|
|
cout << s << " ";
|
|
BOOST_FOREACH(Index key, keys_) cout << " " << key;
|
|
cout << endl;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
bool Factor::equals(const Factor& other, double tol) const {
|
|
return keys_ == other.keys_;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Conditional::shared_ptr Factor::eliminateFirst() {
|
|
assert(!keys_.empty());
|
|
checkSorted();
|
|
Index eliminated = keys_.front();
|
|
keys_.erase(keys_.begin());
|
|
return Conditional::shared_ptr(new Conditional(eliminated, keys_));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
boost::shared_ptr<BayesNet<Conditional> > Factor::eliminate(Index nFrontals) {
|
|
assert(keys_.size() >= nFrontals);
|
|
checkSorted();
|
|
BayesNet<Conditional>::shared_ptr fragment(new BayesNet<Conditional>());
|
|
const_iterator nextFrontal = this->begin();
|
|
for(Index n = 0; n < nFrontals; ++n, ++nextFrontal)
|
|
fragment->push_back(Conditional::shared_ptr(new Conditional(nextFrontal, const_iterator(this->end()), 1)));
|
|
if(nFrontals > 0)
|
|
keys_.assign(fragment->back()->beginParents(), fragment->back()->endParents());
|
|
return fragment;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Factor::permuteWithInverse(const Permutation& inversePermutation) {
|
|
this->permuted_.value = true;
|
|
BOOST_FOREACH(Index& key, keys_) { key = inversePermutation[key]; }
|
|
}
|
|
|
|
}
|