87 lines
2.7 KiB
C++
87 lines
2.7 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 BayesNet.h
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* @brief Bayes network
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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/inference/BayesNet.h>
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#include <gtsam/inference/FactorGraph-inst.h>
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#include <boost/range/adaptor/reversed.hpp>
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#include <fstream>
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#include <string>
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namespace gtsam {
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/* ************************************************************************* */
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template <class CONDITIONAL>
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void BayesNet<CONDITIONAL>::print(const std::string& s,
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const KeyFormatter& formatter) const {
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Base::print(s, formatter);
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}
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/* ************************************************************************* */
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template <class CONDITIONAL>
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void BayesNet<CONDITIONAL>::dot(std::ostream& os,
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const KeyFormatter& keyFormatter,
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const DotWriter& writer) const {
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writer.digraphPreamble(&os);
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// Create nodes for each variable in the graph
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for (Key key : this->keys()) {
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auto position = writer.variablePos(key);
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writer.drawVariable(key, keyFormatter, position, &os);
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}
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os << "\n";
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// Reverse order as typically Bayes nets stored in reverse topological sort.
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for (auto conditional : boost::adaptors::reverse(*this)) {
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auto frontals = conditional->frontals();
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const Key me = frontals.front();
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auto parents = conditional->parents();
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for (const Key& p : parents) {
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os << " var" << p << "->var" << me << "\n";
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}
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}
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os << "}";
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std::flush(os);
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}
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/* ************************************************************************* */
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template <class CONDITIONAL>
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std::string BayesNet<CONDITIONAL>::dot(const KeyFormatter& keyFormatter,
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const DotWriter& writer) const {
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std::stringstream ss;
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dot(ss, keyFormatter, writer);
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return ss.str();
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}
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/* ************************************************************************* */
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template <class CONDITIONAL>
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void BayesNet<CONDITIONAL>::saveGraph(const std::string& filename,
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const KeyFormatter& keyFormatter,
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const DotWriter& writer) const {
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std::ofstream of(filename.c_str());
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dot(of, keyFormatter, writer);
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of.close();
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}
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/* ************************************************************************* */
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} // namespace gtsam
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