93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
/*
|
|
* ClusterTree-inl.h
|
|
* Created on: July 13, 2010
|
|
* @author Kai Ni
|
|
* @author Frank Dellaert
|
|
* @brief: Collects factorgraph fragments defined on variable clusters, arranged in a tree
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <boost/foreach.hpp>
|
|
|
|
#include <gtsam/inference/ClusterTree.h>
|
|
|
|
namespace gtsam {
|
|
|
|
using namespace std;
|
|
|
|
/* ************************************************************************* *
|
|
* Cluster
|
|
* ************************************************************************* */
|
|
template<class FG>
|
|
template<class Iterator>
|
|
ClusterTree<FG>::Cluster::Cluster(const FG& fg, Index key, Iterator firstSeparator, Iterator lastSeparator) :
|
|
FG(fg), frontal(1, key), separator(firstSeparator, lastSeparator) {}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
template<typename FrontalIt, typename SeparatorIt>
|
|
ClusterTree<FG>::Cluster::Cluster(
|
|
const FG& fg, FrontalIt firstFrontal, FrontalIt lastFrontal, SeparatorIt firstSeparator, SeparatorIt lastSeparator) :
|
|
FG(fg), frontal(firstFrontal, lastFrontal), separator(firstSeparator, lastSeparator) {}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
template<typename FrontalIt, typename SeparatorIt>
|
|
ClusterTree<FG>::Cluster::Cluster(
|
|
FrontalIt firstFrontal, FrontalIt lastFrontal, SeparatorIt firstSeparator, SeparatorIt lastSeparator) :
|
|
frontal(firstFrontal, lastFrontal), separator(firstSeparator, lastSeparator) {}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
void ClusterTree<FG>::Cluster::addChild(typename ClusterTree<FG>::Cluster::shared_ptr child) {
|
|
children_.push_back(child);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
bool ClusterTree<FG>::Cluster::equals(const ClusterTree<FG>::Cluster& other) const {
|
|
if (frontal != other.frontal) return false;
|
|
if (separator != other.separator) return false;
|
|
if (children_.size() != other.children_.size()) return false;
|
|
|
|
typename list<shared_ptr>::const_iterator it1 = children_.begin();
|
|
typename list<shared_ptr>::const_iterator it2 = other.children_.begin();
|
|
for (; it1 != children_.end(); it1++, it2++)
|
|
if (!(*it1)->equals(**it2)) return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
void ClusterTree<FG>::Cluster::print(const string& indent) const {
|
|
cout << indent;
|
|
BOOST_FOREACH(const Index key, frontal)
|
|
cout << key << " ";
|
|
cout << ": ";
|
|
BOOST_FOREACH(const Index key, separator)
|
|
cout << key << " ";
|
|
cout << endl;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
template<class FG>
|
|
void ClusterTree<FG>::Cluster::printTree(const string& indent) const {
|
|
print(indent);
|
|
BOOST_FOREACH(const shared_ptr& child, children_)
|
|
child->printTree(indent + " ");
|
|
}
|
|
|
|
/* ************************************************************************* *
|
|
* ClusterTree
|
|
* ************************************************************************* */
|
|
template<class FG>
|
|
bool ClusterTree<FG>::equals(const ClusterTree<FG>& other, double tol) const {
|
|
if (!root_ && !other.root_) return true;
|
|
if (!root_ || !other.root_) return false;
|
|
return root_->equals(*other.root_);
|
|
}
|
|
|
|
} //namespace gtsam
|