100 lines
2.1 KiB
C++
100 lines
2.1 KiB
C++
/*
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* SymbolicFactor.h
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*
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* Created on: Oct 29, 2009
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* Author: Frank Dellaert
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*/
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#ifndef SYMBOLICFACTOR_H_
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#define SYMBOLICFACTOR_H_
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#include <list>
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#include <string>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include "Testable.h"
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#include "Ordering.h"
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#include "Key.h"
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namespace gtsam {
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class SymbolicConditional;
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/** Symbolic Factor */
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class SymbolicFactor: public Testable<SymbolicFactor> {
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private:
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std::list<Symbol> keys_;
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public:
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typedef boost::shared_ptr<SymbolicFactor> shared_ptr;
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/** Construct from SymbolicConditional */
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SymbolicFactor(const boost::shared_ptr<SymbolicConditional>& c);
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/** Constructor from a list of keys */
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SymbolicFactor(const Ordering& keys) :
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keys_(keys) {
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}
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/** Construct unary factor */
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SymbolicFactor(const Symbol& key) {
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keys_.push_back(key);
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}
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/** Construct binary factor */
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SymbolicFactor(const Symbol& key1, const Symbol& key2) {
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keys_.push_back(key1);
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keys_.push_back(key2);
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}
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/** Construct ternary factor */
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SymbolicFactor(const Symbol& key1, const Symbol& key2, const Symbol& key3) {
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keys_.push_back(key1);
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keys_.push_back(key2);
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keys_.push_back(key3);
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}
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/**
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* Constructor that combines a set of factors
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* @param factors Set of factors to combine
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*/
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SymbolicFactor(const std::vector<shared_ptr> & factors);
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/** print */
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void print(const std::string& s = "SymbolicFactor") const;
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/** check equality */
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bool equals(const SymbolicFactor& other, double tol = 1e-9) const;
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/**
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* Find all variables
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* @return The set of all variable keys
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*/
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std::list<Symbol> keys() const {
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return keys_;
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}
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/**
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* eliminate one of the variables connected to this factor
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* @param key the key of the node to be eliminated
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* @return a new factor and a symbolic conditional on the eliminated variable
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*/
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std::pair<boost::shared_ptr<SymbolicConditional>, shared_ptr>
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eliminate(const Symbol& key) const;
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/**
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* Check if empty factor
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*/
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inline bool empty() const {
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return keys_.empty();
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}
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};
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}
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#endif /* SYMBOLICFACTOR_H_ */
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