62 lines
1.4 KiB
C++
62 lines
1.4 KiB
C++
/*
|
|
* SymbolicFactorGraph.h
|
|
*
|
|
* Created on: Oct 29, 2009
|
|
* Author: Frank Dellaert
|
|
*/
|
|
|
|
#ifndef SYMBOLICFACTORGRAPH_H_
|
|
#define SYMBOLICFACTORGRAPH_H_
|
|
|
|
#include <string>
|
|
#include <list>
|
|
#include "FactorGraph.h"
|
|
#include "SymbolicFactor.h"
|
|
#include "SymbolicBayesNet.h"
|
|
|
|
namespace gtsam {
|
|
|
|
class SymbolicConditional;
|
|
|
|
/** Symbolic Factor Graph */
|
|
class SymbolicFactorGraph: public FactorGraph<SymbolicFactor> {
|
|
public:
|
|
|
|
/**
|
|
* Construct empty factor graph
|
|
*/
|
|
SymbolicFactorGraph() {
|
|
}
|
|
|
|
/**
|
|
* Construct from a factor graph of any type
|
|
*/
|
|
template<class Factor>
|
|
SymbolicFactorGraph(const FactorGraph<Factor>& fg) {
|
|
for (size_t i = 0; i < fg.size(); i++) {
|
|
boost::shared_ptr<Factor> f = fg[i];
|
|
std::list<std::string> keys = f->keys();
|
|
SymbolicFactor::shared_ptr factor(new SymbolicFactor(keys));
|
|
push_back(factor);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Eliminate a single node yielding a conditional Gaussian
|
|
* Eliminates the factors from the factor graph through findAndRemoveFactors
|
|
* and adds a new factor on the separator to the factor graph
|
|
*/
|
|
boost::shared_ptr<SymbolicConditional> eliminateOne(const std::string& key);
|
|
|
|
/**
|
|
* eliminate factor graph in place(!) in the given order, yielding
|
|
* a chordal Bayes net
|
|
*/
|
|
SymbolicBayesNet eliminate(const Ordering& ordering);
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* SYMBOLICFACTORGRAPH_H_ */
|