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 DiscreteMarginals.cpp
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* @brief A class for computing marginals in a DiscreteFactorGraph
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* @author Abhijit Kundu
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* @author Richard Roberts
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* @author Varun Agrawal
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* @author Frank Dellaert
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* @date June 4, 2012
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*/
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#include <gtsam/discrete/DiscreteMarginals.h>
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namespace gtsam {
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/* ************************************************************************* */
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DiscreteMarginals::DiscreteMarginals(const DiscreteFactorGraph& graph) {
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bayesTree_ = graph.eliminateMultifrontal();
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}
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/* ************************************************************************* */
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DiscreteFactor::shared_ptr DiscreteMarginals::operator()(Key variable) const {
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// Compute marginal
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DiscreteFactor::shared_ptr marginalFactor =
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bayesTree_->marginalFactor(variable, &EliminateDiscrete);
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return marginalFactor;
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}
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/* ************************************************************************* */
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Vector DiscreteMarginals::marginalProbabilities(const DiscreteKey& key) const {
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// Compute marginal
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DiscreteFactor::shared_ptr marginalFactor = this->operator()(key.first);
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// Create result
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Vector vResult(key.second);
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for (size_t state = 0; state < key.second; ++state) {
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DiscreteValues values;
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values[key.first] = state;
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vResult(state) = (*marginalFactor)(values);
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}
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return vResult;
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}
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/* ************************************************************************* */
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void DiscreteMarginals::print(const std::string& s,
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const KeyFormatter formatter) const {
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std::cout << (s.empty() ? "Discrete Marginals of:" : s + " ") << std::endl;
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bayesTree_->print("", formatter);
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}
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} /* namespace gtsam */
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