86 lines
2.6 KiB
C++
86 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file DiscreteBayesTree.h
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* @brief Discrete Bayes Tree, the result of eliminating a
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* DiscreteJunctionTree
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* @brief DiscreteBayesTree
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* @author Frank Dellaert
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* @author Richard Roberts
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*/
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#pragma once
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#include <gtsam/discrete/DiscreteBayesNet.h>
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#include <gtsam/discrete/DiscreteFactorGraph.h>
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#include <gtsam/inference/BayesTree.h>
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#include <gtsam/inference/Conditional.h>
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#include <gtsam/inference/BayesTreeCliqueBase.h>
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#include <string>
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namespace gtsam {
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// Forward declarations
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class DiscreteConditional;
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class VectorValues;
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/* ************************************************************************* */
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/** A clique in a DiscreteBayesTree */
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class GTSAM_EXPORT DiscreteBayesTreeClique
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: public BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph> {
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public:
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typedef DiscreteBayesTreeClique This;
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typedef BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph>
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Base;
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typedef boost::shared_ptr<This> shared_ptr;
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typedef boost::weak_ptr<This> weak_ptr;
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DiscreteBayesTreeClique() {}
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virtual ~DiscreteBayesTreeClique() {}
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DiscreteBayesTreeClique(
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const boost::shared_ptr<DiscreteConditional>& conditional)
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: Base(conditional) {}
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/// print index signature only
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void printSignature(
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const std::string& s = "Clique: ",
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const KeyFormatter& formatter = DefaultKeyFormatter) const {
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conditional_->printSignature(s, formatter);
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}
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//** evaluate conditional probability of subtree for given Values */
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double evaluate(const DiscreteConditional::Values& values) const;
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};
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/* ************************************************************************* */
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/** A Bayes tree representing a Discrete density */
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class GTSAM_EXPORT DiscreteBayesTree
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: public BayesTree<DiscreteBayesTreeClique> {
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private:
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typedef BayesTree<DiscreteBayesTreeClique> Base;
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public:
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typedef DiscreteBayesTree This;
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typedef boost::shared_ptr<This> shared_ptr;
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/** Default constructor, creates an empty Bayes tree */
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DiscreteBayesTree() {}
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/** Check equality */
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bool equals(const This& other, double tol = 1e-9) const;
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//** evaluate probability for given Values */
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double evaluate(const DiscreteConditional::Values& values) const;
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};
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} // namespace gtsam
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