46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
/**
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* @file summarization.h
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*
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* @brief Types and utility functions for summarization
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*
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* @date Jun 22, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam_unstable/base/dllexport.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/GaussianBayesTree.h>
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namespace gtsam {
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/**
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* Backsubstitution-based conditioning - reduces conditionals to
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* densities on a sub-set of variables.
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*
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* Corner cases:
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* - If no frontal vars are saved, returns a null pointer
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*
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* @param initConditional the conditional from which to remove a variable
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* @param saved_indices is the set of indices that should appear in the result
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* @param solution is a full solution for the system
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*/
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GTSAM_UNSTABLE_EXPORT GaussianConditional::shared_ptr conditionDensity(
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const GaussianConditional::shared_ptr& initConditional,
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const std::set<Key>& saved_indices, const VectorValues& solution);
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/**
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* Backsubstitution-based conditioning for a complete Bayes Tree - reduces
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* conditionals by solving out variables to eliminate. Traverses the tree to
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* add the correct dummy factors whenever a separator is eliminated.
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*/
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GTSAM_UNSTABLE_EXPORT GaussianFactorGraph conditionDensity(
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const GaussianBayesTree& bayesTree,
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const std::set<Key>& saved_indices);
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} // \namespace gtsam
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