118 lines
3.4 KiB
C++
118 lines
3.4 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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* ClusterTree.h
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* Created on: July 13, 2010
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* @author Kai Ni
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* @author Frank Dellaert
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* @brief: Collects factorgraph fragments defined on variable clusters, arranged in a tree
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*/
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#pragma once
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#include <gtsam/base/types.h>
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#include <gtsam/base/Testable.h>
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#include <boost/shared_ptr.hpp>
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#include <boost/weak_ptr.hpp>
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#include <list>
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#include <vector>
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#include <iostream>
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namespace gtsam {
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/**
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* A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman:
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* each node k represents a subset C_k \sub X, and the tree is family preserving, in that
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* each factor f_i is associated with a single cluster and scope(f_i) \sub C_k.
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*/
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template <class FG>
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class ClusterTree : public Testable<ClusterTree<FG> > {
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protected:
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// the class for subgraphs that also include the pointers to the parents and two children
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class Cluster : public FG {
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public:
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typedef typename boost::shared_ptr<Cluster> shared_ptr;
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typedef typename boost::weak_ptr<Cluster> weak_ptr;
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const std::vector<Index> frontal; // the frontal variables
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const std::vector<Index> separator; // the separator variables
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protected:
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weak_ptr parent_; // the parent cluster
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std::list<shared_ptr> children_; // the child clusters
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const typename FG::sharedFactor eliminated_; // the eliminated factor to pass on to the parent
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public:
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// Construct empty clique
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Cluster() {}
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/* Create a node with a single frontal variable */
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template<typename Iterator>
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Cluster(const FG& fg, Index key, Iterator firstSeparator, Iterator lastSeparator);
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/* Create a node with several frontal variables */
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template<typename FRONTALIT, typename SEPARATORIT>
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Cluster(const FG& fg, FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator);
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/* Create a node with several frontal variables */
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template<typename FRONTALIT, typename SEPARATORIT>
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Cluster(FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator);
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// print the object
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void print(const std::string& indent) const;
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void printTree(const std::string& indent) const;
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// check equality
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bool equals(const Cluster& other) const;
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// get or set the parent
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weak_ptr& parent() { return parent_; }
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// get a reference to the children
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const std::list<shared_ptr>& children() const { return children_; }
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// add a child
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void addChild(shared_ptr child);
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};
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// typedef for shared pointers to clusters
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typedef typename Cluster::shared_ptr sharedCluster;
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// Root cluster
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sharedCluster root_;
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public:
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// constructor of empty tree
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ClusterTree() {}
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// return the root cluster
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sharedCluster root() const { return root_; }
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// print the object
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void print(const std::string& str) const {
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std::cout << str << std::endl;
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if (root_) root_->printTree("");
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}
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/** check equality */
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bool equals(const ClusterTree<FG>& other, double tol = 1e-9) const;
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}; // ClusterTree
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} // namespace gtsam
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