34 lines
767 B
C++
34 lines
767 B
C++
/**
|
|
* @file GaussianBayesTree
|
|
* @brief Bayes Tree is a tree of cliques of a Bayes Chain
|
|
* @author Michael Kaess
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <list>
|
|
#include <vector>
|
|
#include <boost/serialization/map.hpp>
|
|
#include <boost/serialization/list.hpp>
|
|
#include <stdexcept>
|
|
|
|
#include "Testable.h"
|
|
#include "BayesTree.h"
|
|
#include "VectorConfig.h"
|
|
#include "GaussianConditional.h"
|
|
|
|
namespace gtsam {
|
|
|
|
typedef BayesTree<GaussianConditional> GaussianBayesTree;
|
|
|
|
// recursively optimize this conditional and all subtrees
|
|
void optimize(const GaussianBayesTree::sharedClique& clique, VectorConfig& result);
|
|
|
|
// optimize the BayesTree, starting from the root
|
|
VectorConfig optimize(const GaussianBayesTree& bayesTree);
|
|
|
|
}/// namespace gtsam
|