79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
/**
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* @file BayesChain
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* @brief Bayes Chain, the result of eliminating a factor graph
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include <boost/shared_ptr.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include "Testable.h"
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namespace gtsam {
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/**
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* Bayes Chain, the result of eliminating a factor graph
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* This is the base class for SymbolicBayesChain, DiscreteBayesChain, and GaussianBayesChain
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* Corresponding to what is used for the "Conditional" template argument:
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* a ConditionalProbabilityTable, a ConditionalGaussian, or a SymbolicConditional.
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*/
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template<class Conditional>
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class BayesChain: public Testable<BayesChain<Conditional> > {
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protected:
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/** nodes keys stored in topological sort order, i.e. from parents to children */
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std::list<std::string> keys_;
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/** nodes stored on key */
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typedef typename std::map<std::string, boost::shared_ptr<Conditional> > Nodes;
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Nodes nodes_;
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public:
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/** print */
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void print(const std::string& s = "") const;
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/** check equality */
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bool equals(const BayesChain& other, double tol = 1e-9) const;
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/** insert: use reverse topological sort (i.e. parents last) */
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void insert(const std::string& key, boost::shared_ptr<Conditional> node);
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/** delete */
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void erase(const std::string& key);
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/** size is the number of nodes */
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inline size_t size() const {return nodes_.size();}
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/** return keys in topological sort order (parents first), i.e., reverse elimination order */
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inline std::list<std::string> keys() const { return keys_;}
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inline boost::shared_ptr<Conditional> operator[](const std::string& key) const {
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const_iterator cg = nodes_.find(key); // get node
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assert( cg != nodes_.end() );
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return cg->second;
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}
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/** return begin and end of the nodes. FD: breaks encapsulation? */
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typedef typename Nodes::const_iterator const_iterator;
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const_iterator const begin() const {return nodes_.begin();}
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const_iterator const end() const {return nodes_.end();}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version)
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{
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ar & BOOST_SERIALIZATION_NVP(keys_);
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ar & BOOST_SERIALIZATION_NVP(nodes_);
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}
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};
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} /// namespace gtsam
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