58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/*
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* GaussianJunctionTree.cpp
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* Created on: Jul 12, 2010
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* @author Kai Ni
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* @author Frank Dellaert
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* @brief: the Gaussian junction tree
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*/
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#include <boost/foreach.hpp>
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#include "ClusterTree-inl.h"
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#include "JunctionTree-inl.h"
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#include "GaussianJunctionTree.h"
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namespace gtsam {
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// explicit template instantiation
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template class JunctionTree<GaussianFactorGraph>;
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using namespace std;
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/* ************************************************************************* */
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/**
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* GaussianJunctionTree
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*/
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void GaussianJunctionTree::btreeBackSubstitue(
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BayesTree<GaussianConditional>::sharedClique current,
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VectorConfig& config) {
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// solve the bayes net in the current node
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BayesNet<GaussianConditional>::const_reverse_iterator it = current->rbegin();
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for (; it!=current->rend(); it++) {
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Vector x = (*it)->solve(config); // Solve for that variable
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config.insert((*it)->key(),x); // store result in partial solution
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}
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// solve the bayes nets in the child nodes
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typedef BayesTree<GaussianConditional>::sharedClique sharedBayesClique;
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BOOST_FOREACH(sharedBayesClique child, current->children_) {
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btreeBackSubstitue(child, config);
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}
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}
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/* ************************************************************************* */
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VectorConfig GaussianJunctionTree::optimize() {
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// eliminate from leaves to the root
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typedef JunctionTree<GaussianFactorGraph> Base;
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BayesTree<GaussianConditional> bayesTree;
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this->eliminate<GaussianConditional>();
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// back-substitution
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VectorConfig result;
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btreeBackSubstitue(bayesTree.root(), result);
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return result;
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}
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} //namespace gtsam
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