132 lines
4.3 KiB
C++
132 lines
4.3 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 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/symbolic/SymbolicFactor.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/inference/EliminateableFactorGraph.h>
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#include <gtsam/base/types.h>
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namespace gtsam {
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class SymbolicFactorGraph;
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class SymbolicConditional;
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class SymbolicBayesNet;
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class SymbolicEliminationTree;
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class SymbolicBayesTree;
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class SymbolicJunctionTree;
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/* ************************************************************************* */
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template<> struct EliminationTraits<SymbolicFactorGraph>
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{
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typedef SymbolicFactor FactorType; ///< Type of factors in factor graph
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typedef SymbolicFactorGraph FactorGraphType; ///< Type of the factor graph (e.g. GaussianFactorGraph)
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typedef SymbolicConditional ConditionalType; ///< Type of conditionals from elimination
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typedef SymbolicBayesNet BayesNetType; ///< Type of Bayes net from sequential elimination
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typedef SymbolicEliminationTree EliminationTreeType; ///< Type of elimination tree
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typedef SymbolicBayesTree BayesTreeType; ///< Type of Bayes tree
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typedef SymbolicJunctionTree 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 FactorGraphType& factors, const Ordering& keys) {
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return EliminateSymbolic(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 SymbolicFactorGraph :
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public FactorGraph<SymbolicFactor>,
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public EliminateableFactorGraph<SymbolicFactorGraph>
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{
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public:
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typedef SymbolicFactorGraph This; ///< Typedef to this class
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typedef FactorGraph<SymbolicFactor> 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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SymbolicFactorGraph() {}
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/** Construct from iterator over factors */
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template<typename ITERATOR>
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SymbolicFactorGraph(ITERATOR firstFactor, ITERATOR lastFactor) : Base(firstFactor, lastFactor) {}
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/** Construct from container of factors (shared_ptr or plain objects) */
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template<class CONTAINER>
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explicit SymbolicFactorGraph(const CONTAINER& factors) : Base(factors) {}
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/** Implicit copy/downcast constructor to override explicit template container constructor */
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template<class DERIVEDFACTOR>
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SymbolicFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
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/// @}
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/// @name Testable
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/// @{
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bool equals(const This& fg, double tol = 1e-9) const;
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/// print
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void print(
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const std::string& s = "SymbolicFactorGraph",
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const KeyFormatter& formatter = DefaultKeyFormatter) const override {
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Base::print(s, formatter);
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}
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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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/// @}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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}
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};
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/// traits
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template<>
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struct traits<SymbolicFactorGraph> : public Testable<SymbolicFactorGraph> {
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};
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} //\ namespace gtsam
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