63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/**
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* @file GenericSequentialSolver.h
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* @brief
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* @author Richard Roberts
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* @created Oct 21, 2010
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*/
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#pragma once
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#include <gtsam/inference/EliminationTree.h>
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#include <gtsam/inference/BayesNet.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <utility>
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namespace gtsam {
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template<class FACTOR>
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class GenericSequentialSolver {
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protected:
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// Store the original factors for computing marginals
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FactorGraph<FACTOR> factors_;
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// Column structure of the factor graph
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VariableIndex<> structure_;
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// Elimination tree that performs elimination.
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typename EliminationTree<FACTOR>::shared_ptr eliminationTree_;
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public:
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/**
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* Construct the solver for a factor graph. This builds the elimination
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* tree, which already does some of the symbolic work of elimination.
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*/
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GenericSequentialSolver(const FactorGraph<FACTOR>& factorGraph);
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/**
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* Eliminate the factor graph sequentially. Uses a column elimination tree
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* to recursively eliminate.
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*/
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typename BayesNet<typename FACTOR::Conditional>::shared_ptr eliminate() const;
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/**
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* Compute the marginal Gaussian density over a variable, by integrating out
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* all of the other variables. This function returns the result as a factor.
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*/
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typename FACTOR::shared_ptr marginal(Index j) const;
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/**
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* Compute the marginal joint over a set of variables, by integrating out
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* all of the other variables. This function returns the result as a factor
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* graph.
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*/
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typename FactorGraph<FACTOR>::shared_ptr joint(const std::vector<Index>& js) const;
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};
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}
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