73 lines
2.2 KiB
C++
73 lines
2.2 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 SymbolicFactor-inst.h
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* @author Richard Roberts
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* @date Oct 17, 2010
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*/
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#pragma once
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#include <gtsam/symbolic/SymbolicFactor.h>
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#include <gtsam/symbolic/SymbolicConditional.h>
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#include <gtsam/inference/Factor.h>
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#include <gtsam/inference/Key.h>
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#include <gtsam/base/timing.h>
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#include <memory>
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#include <utility>
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namespace gtsam
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{
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namespace internal
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{
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/** Implementation of dense elimination function for symbolic factors. This is a templated
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* version for internally doing symbolic elimination on any factor. */
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template<class FACTOR>
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std::pair<std::shared_ptr<SymbolicConditional>, std::shared_ptr<SymbolicFactor> >
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EliminateSymbolic(const FactorGraph<FACTOR>& factors, const Ordering& keys)
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{
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gttic(EliminateSymbolic);
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// Gather all keys
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KeySet allKeys;
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for(const std::shared_ptr<FACTOR>& factor: factors) {
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// Non-active factors are nullptr
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if (factor)
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allKeys.insert(factor->begin(), factor->end());
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}
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// Check keys
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for(Key key: keys) {
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if(allKeys.find(key) == allKeys.end())
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throw std::runtime_error("Requested to eliminate a key that is not in the factors");
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}
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// Sort frontal keys
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KeySet frontals(keys);
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const size_t nFrontals = keys.size();
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// Build a key vector with the frontals followed by the separator
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KeyVector orderedKeys(allKeys.size());
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std::copy(keys.begin(), keys.end(), orderedKeys.begin());
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std::set_difference(allKeys.begin(), allKeys.end(), frontals.begin(), frontals.end(), orderedKeys.begin() + nFrontals);
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// Return resulting conditional and factor
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return {
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SymbolicConditional::FromKeysShared(orderedKeys, nFrontals),
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SymbolicFactor::FromIteratorsShared(orderedKeys.begin() + nFrontals, orderedKeys.end())
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};
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}
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}
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}
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