72 lines
2.3 KiB
C++
72 lines
2.3 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 HybridEliminationTree.h
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* @date Mar 11, 2022
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* @author Fan Jiang
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*/
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#pragma once
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#include <gtsam/hybrid/HybridBayesNet.h>
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#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
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#include <gtsam/inference/EliminationTree.h>
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namespace gtsam {
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/**
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* Elimination Tree type for Hybrid Factor Graphs.
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*
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* @ingroup hybrid
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*/
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class GTSAM_EXPORT HybridEliminationTree
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: public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {
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private:
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friend class ::EliminationTreeTester;
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public:
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typedef EliminationTree<HybridBayesNet, HybridGaussianFactorGraph>
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Base; ///< Base class
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typedef HybridEliminationTree This; ///< This class
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typedef std::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
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/// @name Constructors
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/// @{
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/**
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* Build the elimination tree of a factor graph using pre-computed column
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* structure.
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* @param factorGraph The factor graph for which to build the elimination tree
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* @param structure The set of factors involving each variable. If this is
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* not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
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* named constructor instead.
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* @return The elimination tree
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*/
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HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
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const VariableIndex& structure, const Ordering& order);
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/** Build the elimination tree of a factor graph. Note that this has to
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* compute the column structure as a VariableIndex, so if you already have
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* this precomputed, use the other constructor instead.
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* @param factorGraph The factor graph for which to build the elimination tree
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*/
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HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
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const Ordering& order);
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/// @}
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/** Test whether the tree is equal to another */
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bool equals(const This& other, double tol = 1e-9) const;
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};
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} // namespace gtsam
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