53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*
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* SymbolicFactorGraph.cpp
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*
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* Created on: Oct 29, 2009
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* Author: Frank Dellaert
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*/
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#include <iostream>
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#include <fstream>
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#include <boost/format.hpp>
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#include <boost/foreach.hpp>
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#include <gtsam/inference/Ordering.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/SymbolicBayesNet.h>
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#include <gtsam/inference/inference-inl.h>
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using namespace std;
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namespace gtsam {
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// Explicitly instantiate so we don't have to include everywhere
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template class FactorGraph<SymbolicFactor>;
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/* ************************************************************************* */
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boost::shared_ptr<SymbolicConditional>
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SymbolicFactorGraph::eliminateOne(const Symbol& key){
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return gtsam::eliminateOne<SymbolicFactor,SymbolicConditional>(*this, key);
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}
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/* ************************************************************************* */
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SymbolicBayesNet
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SymbolicFactorGraph::eliminate(const Ordering& ordering)
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{
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SymbolicBayesNet bayesNet;
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BOOST_FOREACH(const Symbol& key, ordering) {
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SymbolicConditional::shared_ptr conditional =
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gtsam::eliminateOne<SymbolicFactor,SymbolicConditional>(*this,key);
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bayesNet.push_back(conditional);
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}
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return bayesNet;
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}
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/* ************************************************************************* */
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SymbolicBayesNet
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SymbolicFactorGraph::eliminateFrontals(const Ordering& ordering)
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{
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return eliminate(ordering);
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}
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/* ************************************************************************* */
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}
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