62 lines
2.0 KiB
C++
62 lines
2.0 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 GaussianMixture.cpp
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* @brief A hybrid conditional in the Conditional Linear Gaussian scheme
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* @author Fan Jiang
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* @date Mar 12, 2022
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*/
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#include <gtsam/base/utilities.h>
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#include <gtsam/discrete/DecisionTree-inl.h>
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#include <gtsam/hybrid/GaussianMixture.h>
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#include <gtsam/inference/Conditional-inst.h>
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namespace gtsam {
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GaussianMixture::GaussianMixture(
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const KeyVector &continuousFrontals, const KeyVector &continuousParents,
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const DiscreteKeys &discreteParents,
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const GaussianMixture::Conditionals &conditionals)
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: BaseFactor(CollectKeys(continuousFrontals, continuousParents),
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discreteParents),
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BaseConditional(continuousFrontals.size()),
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conditionals_(conditionals) {}
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bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
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return false;
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}
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void GaussianMixture::print(const std::string &s,
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const KeyFormatter &formatter) const {
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std::cout << s << ": ";
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if (isContinuous_) std::cout << "Cont. ";
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if (isDiscrete_) std::cout << "Disc. ";
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if (isHybrid_) std::cout << "Hybr. ";
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BaseConditional::print("", formatter);
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std::cout << "Discrete Keys = ";
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for (auto &dk : discreteKeys_) {
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std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
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}
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std::cout << "\n";
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conditionals_.print(
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"", [&](Key k) { return formatter(k); },
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[&](const GaussianConditional::shared_ptr &gf) -> std::string {
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RedirectCout rd;
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if (!gf->empty())
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gf->print("", formatter);
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else
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return {"nullptr"};
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return rd.str();
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});
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}
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} // namespace gtsam
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