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