86 lines
2.5 KiB
C++
86 lines
2.5 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.h
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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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#pragma once
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#include <gtsam/inference/IndexConditional.h>
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#include <gtsam/inference/Factor.h>
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namespace gtsam {
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class IndexConditional;
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class IndexFactor : public FactorBase<Index> {
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public:
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typedef IndexFactor This;
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typedef FactorBase<Index> Base;
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typedef IndexConditional Conditional;
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typedef boost::shared_ptr<IndexFactor> shared_ptr;
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/** Copy constructor */
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IndexFactor(const This& f) : Base(static_cast<const Base&>(f)) {}
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/** Construct from derived type */
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IndexFactor(const IndexConditional& c);
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/** Constructor from a collection of keys */
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template<class KeyIterator> IndexFactor(KeyIterator beginKey, KeyIterator endKey) :
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Base(beginKey, endKey) {}
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/** Default constructor for I/O */
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IndexFactor() {}
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/** Construct unary factor */
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IndexFactor(Index j) : Base(j) {}
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/** Construct binary factor */
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IndexFactor(Index j1, Index j2) : Base(j1, j2) {}
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/** Construct ternary factor */
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IndexFactor(Index j1, Index j2, Index j3) : Base(j1, j2, j3) {}
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/** Construct 4-way factor */
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IndexFactor(Index j1, Index j2, Index j3, Index j4) : Base(j1, j2, j3, j4) {}
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/** Create a combined joint factor (new style for EliminationTree). */
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static shared_ptr
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Combine(const FactorGraph<This>& factors, const FastMap<Index, std::vector<Index> >& variableSlots);
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template<class FACTORGRAPHTYPE, class VARIABLEINDEXSTORAGE>
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static shared_ptr Combine(const FACTORGRAPHTYPE& factorGraph,
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const VariableIndex<VARIABLEINDEXSTORAGE>& variableIndex, const std::vector<size_t>& factors,
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const std::vector<Index>& variables, const std::vector<std::vector<size_t> >& variablePositions) {
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return Base::Combine<This>(factorGraph, variableIndex, factors, variables, variablePositions); }
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/**
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* eliminate the first variable involved in this factor
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* @return a conditional on the eliminated variable
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*/
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boost::shared_ptr<Conditional> eliminateFirst();
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/**
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* eliminate the first nrFrontals frontal variables.
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*/
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boost::shared_ptr<BayesNet<Conditional> > eliminate(size_t nrFrontals = 1);
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};
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}
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