90 lines
2.4 KiB
C++
90 lines
2.4 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 SymbolicBayesNet.h
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* @date Oct 29, 2009
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* @author Frank Dellaert
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* @author Richard Roberts
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*/
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#pragma once
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#include <gtsam/symbolic/SymbolicConditional.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/base/types.h>
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namespace gtsam {
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/** Symbolic Bayes Net
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* \nosubgrouping
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*/
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class GTSAM_EXPORT SymbolicBayesNet : public FactorGraph<SymbolicConditional> {
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public:
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typedef FactorGraph<SymbolicConditional> Base;
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typedef SymbolicBayesNet This;
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typedef SymbolicConditional ConditionalType;
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typedef boost::shared_ptr<This> shared_ptr;
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typedef boost::shared_ptr<ConditionalType> sharedConditional;
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/// @name Standard Constructors
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/// @{
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/** Construct empty factor graph */
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SymbolicBayesNet() {}
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/** Construct from iterator over conditionals */
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template<typename ITERATOR>
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SymbolicBayesNet(ITERATOR firstConditional, ITERATOR lastConditional) : Base(firstConditional, lastConditional) {}
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/** Construct from container of factors (shared_ptr or plain objects) */
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template<class CONTAINER>
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explicit SymbolicBayesNet(const CONTAINER& conditionals) : Base(conditionals) {}
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/** Implicit copy/downcast constructor to override explicit template container constructor */
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template<class DERIVEDCONDITIONAL>
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SymbolicBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
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/// @}
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/// @name Testable
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/// @{
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/** Check equality */
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bool equals(const This& bn, double tol = 1e-9) const;
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/// @}
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/// @name Standard Interface
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/// @{
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void saveGraph(const std::string &s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/// @}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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}
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};
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/// traits
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template<>
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struct traits<SymbolicBayesNet> : public Testable<SymbolicBayesNet> {
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};
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} //\ namespace gtsam
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