113 lines
3.9 KiB
C++
113 lines
3.9 KiB
C++
/**
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* @file GaussianConditional.cpp
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* @brief Conditional Gaussian Base class
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* @author Christian Potthast
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*/
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#include <string.h>
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#include <boost/numeric/ublas/vector.hpp>
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#include "Ordering.h"
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#include "GaussianConditional.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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GaussianConditional::GaussianConditional(const Symbol& key,Vector d, Matrix R, Vector sigmas) :
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Conditional (key), R_(R),d_(d),sigmas_(sigmas)
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{
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}
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/* ************************************************************************* */
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GaussianConditional::GaussianConditional(const Symbol& key, Vector d, Matrix R,
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const Symbol& name1, Matrix S, Vector sigmas) :
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Conditional (key), R_(R), d_(d), sigmas_(sigmas) {
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parents_.insert(make_pair(name1, S));
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}
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/* ************************************************************************* */
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GaussianConditional::GaussianConditional(const Symbol& key, Vector d, Matrix R,
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const Symbol& name1, Matrix S, const Symbol& name2, Matrix T, Vector sigmas) :
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Conditional (key), R_(R), d_(d),sigmas_(sigmas) {
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parents_.insert(make_pair(name1, S));
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parents_.insert(make_pair(name2, T));
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}
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/* ************************************************************************* */
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GaussianConditional::GaussianConditional(const Symbol& key,
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const Vector& d, const Matrix& R, const SymbolMap<Matrix>& parents, Vector sigmas) :
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Conditional (key), R_(R), parents_(parents), d_(d),sigmas_(sigmas) {
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}
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/* ************************************************************************* */
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void GaussianConditional::print(const string &s) const
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{
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cout << s << ": density on " << (string)key_ << endl;
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gtsam::print(R_,"R");
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for(Parents::const_iterator it = parents_.begin() ; it != parents_.end() ; it++ ) {
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const Symbol& j = it->first;
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const Matrix& Aj = it->second;
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gtsam::print(Aj, "A["+(string)j+"]");
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}
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gtsam::print(d_,"d");
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gtsam::print(sigmas_,"sigmas");
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}
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/* ************************************************************************* */
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bool GaussianConditional::equals(const Conditional &c, double tol) const {
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if (!Conditional::equals(c)) return false;
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const GaussianConditional* p = dynamic_cast<const GaussianConditional*> (&c);
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if (p == NULL) return false;
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Parents::const_iterator it = parents_.begin();
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// check if the size of the parents_ map is the same
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if (parents_.size() != p->parents_.size()) return false;
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// check if R_ and d_ are linear independent
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for (size_t i=0; i<d_.size(); i++) {
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list<Vector> rows1; rows1.push_back(row_(R_, i));
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list<Vector> rows2; rows2.push_back(row_(p->R_, i));
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// check if the matrices are the same
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// iterate over the parents_ map
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for (it = parents_.begin(); it != parents_.end(); it++) {
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Parents::const_iterator it2 = p->parents_.find(it->first);
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if (it2 != p->parents_.end()) {
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rows1.push_back(row_(it->second, i));
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rows2.push_back(row_(it2->second,i));
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} else
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return false;
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}
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Vector row1 = concatVectors(rows1);
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Vector row2 = concatVectors(rows2);
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if (!linear_dependent(row1, row2, tol)) return false;
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}
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// check if sigmas are equal
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if (!(::equal_with_abs_tol(sigmas_, p->sigmas_, tol))) return false;
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return true;
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}
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/* ************************************************************************* */
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list<Symbol> GaussianConditional::parents() const {
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list<Symbol> result;
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for (Parents::const_iterator it = parents_.begin(); it != parents_.end(); it++)
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result.push_back(it->first);
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return result;
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}
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/* ************************************************************************* */
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Vector GaussianConditional::solve(const VectorConfig& x) const {
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Vector rhs = d_;
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for (Parents::const_iterator it = parents_.begin(); it!= parents_.end(); it++) {
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const Symbol& j = it->first;
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const Matrix& Aj = it->second;
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multiplyAdd(-1.0,Aj,x[j],rhs);
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}
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return backSubstituteUpper(R_, rhs, false);
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}
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/* ************************************************************************* */
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