50 lines
1.6 KiB
C++
50 lines
1.6 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 IndexFactor.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 17, 2010
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*/
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#include <gtsam/inference/FactorBase-inl.h>
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#include <gtsam/inference/IndexFactor.h>
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#include <gtsam/inference/VariableSlots.h>
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using namespace std;
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namespace gtsam {
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template class FactorBase<Index>;
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IndexFactor::IndexFactor(const IndexConditional& c) : Base(static_cast<const Base>(c)) {}
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pair<BayesNet<IndexConditional>::shared_ptr, IndexFactor::shared_ptr> IndexFactor::CombineAndEliminate(
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const FactorGraph<This>& factors, size_t nrFrontals) {
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pair<BayesNet<Conditional>::shared_ptr, shared_ptr> result;
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result.second = Combine(factors, VariableSlots(factors));
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result.first = result.second->eliminate(nrFrontals);
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return result;
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}
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IndexFactor::shared_ptr IndexFactor::Combine(
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const FactorGraph<This>& factors, const FastMap<Index, std::vector<Index> >& variableSlots) {
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return Base::Combine<This>(factors, variableSlots); }
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boost::shared_ptr<IndexConditional> IndexFactor::eliminateFirst() {
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return Base::eliminateFirst<IndexConditional>(); }
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boost::shared_ptr<BayesNet<IndexConditional> > IndexFactor::eliminate(size_t nrFrontals) {
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return Base::eliminate<IndexConditional>(nrFrontals); }
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}
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