102 lines
2.7 KiB
C++
102 lines
2.7 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file DiscreteFactor.h
|
|
* @date Feb 14, 2011
|
|
* @author Duy-Nguyen Ta
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/discrete/DiscreteValues.h>
|
|
#include <gtsam/inference/Factor.h>
|
|
#include <gtsam/base/Testable.h>
|
|
|
|
namespace gtsam {
|
|
|
|
class DecisionTreeFactor;
|
|
class DiscreteConditional;
|
|
|
|
/**
|
|
* Base class for discrete probabilistic factors
|
|
* The most general one is the derived DecisionTreeFactor
|
|
*/
|
|
class GTSAM_EXPORT DiscreteFactor: public Factor {
|
|
|
|
public:
|
|
|
|
// typedefs needed to play nice with gtsam
|
|
typedef DiscreteFactor This; ///< This class
|
|
typedef boost::shared_ptr<DiscreteFactor> shared_ptr; ///< shared_ptr to this class
|
|
typedef Factor Base; ///< Our base class
|
|
|
|
using Values = DiscreteValues; ///< backwards compatibility
|
|
|
|
public:
|
|
|
|
/// @name Standard Constructors
|
|
/// @{
|
|
|
|
/** Default constructor creates empty factor */
|
|
DiscreteFactor() {}
|
|
|
|
/** Construct from container of keys. This constructor is used internally from derived factor
|
|
* constructors, either from a container of keys or from a boost::assign::list_of. */
|
|
template<typename CONTAINER>
|
|
DiscreteFactor(const CONTAINER& keys) : Base(keys) {}
|
|
|
|
/// Virtual destructor
|
|
virtual ~DiscreteFactor() {
|
|
}
|
|
|
|
/// @}
|
|
/// @name Testable
|
|
/// @{
|
|
|
|
/// equals
|
|
virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;
|
|
|
|
/// print
|
|
void print(
|
|
const std::string& s = "DiscreteFactor\n",
|
|
const KeyFormatter& formatter = DefaultKeyFormatter) const override {
|
|
Base::print(s, formatter);
|
|
}
|
|
|
|
/** Test whether the factor is empty */
|
|
virtual bool empty() const { return size() == 0; }
|
|
|
|
/// @}
|
|
/// @name Standard Interface
|
|
/// @{
|
|
|
|
/// Find value for given assignment of values to variables
|
|
virtual double operator()(const DiscreteValues&) const = 0;
|
|
|
|
/// Synonym for operator(), mostly for wrapper
|
|
double value(const DiscreteValues& values) const { return operator()(values); }
|
|
|
|
/// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor
|
|
virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0;
|
|
|
|
virtual DecisionTreeFactor toDecisionTreeFactor() const = 0;
|
|
|
|
/// @}
|
|
};
|
|
// DiscreteFactor
|
|
|
|
// traits
|
|
template<> struct traits<DiscreteFactor> : public Testable<DiscreteFactor> {};
|
|
|
|
}// namespace gtsam
|