114 lines
4.2 KiB
C++
114 lines
4.2 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 SymbolicFactorGraph.h
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* @date Oct 29, 2009
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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/base/types.h>
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#include <gtsam/inference/FactorGraphUnordered.h>
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#include <gtsam/inference/EliminateableFactorGraph.h>
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#include <gtsam/symbolic/SymbolicFactorUnordered.h>
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// NOTE: Additional headers included at end of file for user convenience
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namespace gtsam {
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class SymbolicFactorGraphUnordered;
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class SymbolicConditionalUnordered;
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class SymbolicBayesNetUnordered;
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class SymbolicEliminationTreeUnordered;
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class SymbolicBayesTreeUnordered;
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class SymbolicJunctionTreeUnordered;
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/* ************************************************************************* */
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template<> class EliminationTraits<SymbolicFactorGraphUnordered>
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{
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typedef SymbolicFactorUnordered FactorType; ///< Type of factors in factor graph
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typedef SymbolicConditionalUnordered ConditionalType; ///< Type of conditionals from elimination
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typedef SymbolicBayesNetUnordered BayesNetType; ///< Type of Bayes net from sequential elimination
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typedef SymbolicEliminationTreeUnordered EliminationTreeType; ///< Type of elimination tree
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typedef SymbolicBayesTreeUnordered BayesTreeType; ///< Type of Bayes tree
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typedef SymbolicJunctionTreeUnordered JunctionTreeType; ///< Type of Junction tree
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/// The default dense elimination function
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static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
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DefaultEliminate(const std::vector<boost::shared_ptr<FactorType> >& factors,
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const std::vector<Key>& keys) { return EliminateSymbolicUnordered(factors, keys); }
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};
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/* ************************************************************************* */
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/** Symbolic Factor Graph
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* \nosubgrouping
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*/
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class GTSAM_EXPORT SymbolicFactorGraphUnordered :
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public FactorGraphUnordered<SymbolicFactorUnordered>,
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public EliminateableFactorGraph<SymbolicFactorGraphUnordered>
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{
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public:
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typedef SymbolicFactorGraphUnordered This; ///< Typedef to this class
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typedef FactorGraphUnordered<SymbolicFactorUnordered> Base; ///< Typedef to base factor graph type
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typedef EliminateableFactorGraph<This> BaseEliminateable; ///< Typedef to base elimination class
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typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
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/// @name Standard Constructors
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/// @{
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/** Construct empty factor graph */
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SymbolicFactorGraphUnordered() {}
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/** Construct from any factor graph with factors derived from SymbolicFactor. */
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template<class DERIVEDFACTOR>
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SymbolicFactorGraphUnordered(const FactorGraphUnordered<DERIVEDFACTOR>& graph) : Base(graph.begin(), graph.end()) {}
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/** Constructor from iterator over factors */
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template<typename ITERATOR>
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SymbolicFactorGraphUnordered(ITERATOR firstFactor, ITERATOR lastFactor) : Base(firstFactor, lastFactor) {}
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/** Constructor from a BayesTree */
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SymbolicFactorGraphUnordered(const SymbolicBayesTreeUnordered& bayesTree) {
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push_back_bayesTree(bayesTree); }
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/// @}
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/// @name Standard Interface
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/// @{
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/** Push back unary factor */
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void push_factor(Key key);
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/** Push back binary factor */
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void push_factor(Key key1, Key key2);
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/** Push back ternary factor */
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void push_factor(Key key1, Key key2, Key key3);
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/** Push back 4-way factor */
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void push_factor(Key key1, Key key2, Key key3, Key key4);
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/** push back a BayesTree as a collection of factors. */
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void push_back_bayesTree(const SymbolicBayesTreeUnordered& bayesTree);
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/// @}
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};
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} // namespace gtsam
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// These are not needed for this file but are returned from EliminateableFactorGraph functions so
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// are included here for user convenience
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#include <gtsam/symbolic/SymbolicBayesNetUnordered.h>
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#include <gtsam/symbolic/SymbolicBayesTreeUnordered.h>
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