115 lines
3.0 KiB
C++
115 lines
3.0 KiB
C++
/**
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* @file BayesTree
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* @brief Bayes Tree is a tree of cliques of a Bayes Chain
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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 <map>
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#include <list>
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#include <vector>
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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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#include "BayesChain.h"
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namespace gtsam {
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/** A clique in a Bayes tree consisting of frontal nodes and conditionals */
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template<class Conditional>
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class Front: Testable<Front<Conditional> > {
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private:
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typedef boost::shared_ptr<Conditional> cond_ptr;
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std::list<std::string> keys_; /** frontal keys */
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std::list<cond_ptr> conditionals_; /** conditionals */
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std::list<std::string> separator_; /** separator keys */
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public:
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/** constructor */
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Front(std::string key, cond_ptr conditional);
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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 Front<Conditional>& other, double tol = 1e-9) const;
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/** add a frontal node */
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void add(std::string key, cond_ptr conditional);
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/** return size of the clique */
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inline size_t size() const {return keys_.size() + separator_.size();}
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};
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/**
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* Bayes tree
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* Templated on the Conditional class, the type of node in the underlying Bayes chain.
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* This could be a ConditionalProbabilityTable, a ConditionalGaussian, or a SymbolicConditional
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*/
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template<class Conditional>
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class BayesTree: public Testable<BayesTree<Conditional> > {
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public:
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typedef boost::shared_ptr<Conditional> conditional_ptr;
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private:
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/** A Node in the tree is a Front with tree connectivity */
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struct Node : public Front<Conditional> {
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typedef boost::shared_ptr<Node> shared_ptr;
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shared_ptr parent_;
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std::list<shared_ptr> children_;
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Node(std::string key, conditional_ptr conditional):Front<Conditional>(key,conditional) {}
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/** print this node and entire subtree below it*/
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void printTree(const std::string& indent) const {
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print(indent);
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BOOST_FOREACH(shared_ptr child, children_)
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child->printTree(indent+" ");
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}
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};
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/** vector of Nodes */
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typedef boost::shared_ptr<Node> node_ptr;
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typedef std::vector<node_ptr> Nodes;
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Nodes nodes_;
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/** Map from keys to Node index */
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typedef std::map<std::string, int> NodeMap;
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NodeMap nodeMap_;
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public:
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/** Create an empty Bayes Tree */
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BayesTree();
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/** Create a Bayes Tree from a SymbolicBayesChain */
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BayesTree(BayesChain<Conditional>& bayesChain, bool verbose=false);
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/** Destructor */
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virtual ~BayesTree() {}
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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 BayesTree<Conditional>& other, double tol = 1e-9) const;
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/** insert a new conditional */
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void insert(std::string key, conditional_ptr conditional, bool verbose=false);
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/** number of cliques */
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inline size_t size() const { return nodes_.size();}
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/** return root clique */
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const Front<Conditional>& root() const {return *(nodes_[0]);}
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}; // BayesTree
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} /// namespace gtsam
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