122 lines
2.9 KiB
C++
122 lines
2.9 KiB
C++
/**
|
|
* @file BayesTree
|
|
* @brief Bayes Tree is a tree of cliques of a Bayes Chain
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <list>
|
|
#include <vector>
|
|
#include <boost/serialization/map.hpp>
|
|
#include <boost/serialization/list.hpp>
|
|
|
|
#include "Testable.h"
|
|
#include "BayesNet.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Bayes tree
|
|
* Templated on the Conditional class, the type of node in the underlying Bayes chain.
|
|
* This could be a ConditionalProbabilityTable, a ConditionalGaussian, or a SymbolicConditional
|
|
*/
|
|
template<class Conditional>
|
|
class BayesTree: public Testable<BayesTree<Conditional> > {
|
|
|
|
public:
|
|
|
|
typedef boost::shared_ptr<Conditional> conditional_ptr;
|
|
|
|
/** A Node in the tree is an incomplete Bayes net: the variables
|
|
* in the Bayes net are the frontal nodes, and the variables conditioned
|
|
* on is the separator. We also have pointers up and down the tree.
|
|
*/
|
|
struct Node: public BayesNet<Conditional> {
|
|
|
|
typedef boost::shared_ptr<Node> shared_ptr;
|
|
shared_ptr parent_;
|
|
std::list<std::string> separator_; /** separator keys */
|
|
std::list<shared_ptr> children_;
|
|
|
|
//* Constructor */
|
|
Node(const conditional_ptr& conditional);
|
|
|
|
/** The size *includes* the separator */
|
|
size_t size() const {
|
|
return this->conditionals_.size() + separator_.size();
|
|
}
|
|
|
|
/** print this node */
|
|
void print(const std::string& s = "Bayes tree node") const;
|
|
|
|
/** print this node and entire subtree below it*/
|
|
void printTree(const std::string& indent) const;
|
|
};
|
|
|
|
typedef boost::shared_ptr<Node> node_ptr;
|
|
|
|
private:
|
|
|
|
/** Map from keys to Node */
|
|
typedef std::map<std::string, node_ptr> Nodes;
|
|
Nodes nodes_;
|
|
|
|
/** Roor clique */
|
|
node_ptr root_;
|
|
|
|
/** add a clique */
|
|
node_ptr addClique(const conditional_ptr& conditional,
|
|
node_ptr parent_clique = node_ptr());
|
|
|
|
public:
|
|
|
|
/** Create an empty Bayes Tree */
|
|
BayesTree();
|
|
|
|
/** Create a Bayes Tree from a Bayes Net */
|
|
BayesTree(const BayesNet<Conditional>& bayesNet);
|
|
|
|
/** Destructor */
|
|
virtual ~BayesTree() {
|
|
}
|
|
|
|
/** print */
|
|
void print(const std::string& s = "") const;
|
|
|
|
/** check equality */
|
|
bool equals(const BayesTree<Conditional>& other, double tol = 1e-9) const;
|
|
|
|
/** insert a new conditional */
|
|
void insert(const conditional_ptr& conditional);
|
|
|
|
/** number of cliques */
|
|
inline size_t size() const {
|
|
return nodes_.size();
|
|
}
|
|
|
|
/** return root clique */
|
|
node_ptr root() const {
|
|
return root_;
|
|
}
|
|
|
|
/** find the clique to which key belongs */
|
|
node_ptr operator[](const std::string& key) const {
|
|
typename Nodes::const_iterator it = nodes_.find(key);
|
|
if (it == nodes_.end()) throw(std::invalid_argument(
|
|
"BayesTree::operator['" + key + "'): key not found"));
|
|
node_ptr clique = it->second;
|
|
return clique;
|
|
}
|
|
|
|
/** return marginal on any variable */
|
|
template<class Factor>
|
|
conditional_ptr marginal(const std::string& key) const;
|
|
|
|
}; // BayesTree
|
|
|
|
} /// namespace gtsam
|