83 lines
2.9 KiB
C++
83 lines
2.9 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 inference.h
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* @brief Contains *generic* inference algorithms that convert between templated
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* graphical models, i.e., factor graphs, Bayes nets, and Bayes trees
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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/inference/VariableIndex.h>
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#include <gtsam/inference/Permutation.h>
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#include <boost/foreach.hpp>
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#include <boost/optional.hpp>
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#include <deque>
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namespace gtsam {
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namespace inference {
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/**
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* Compute a permutation (variable ordering) using colamd
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*/
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GTSAM_EXPORT Permutation::shared_ptr PermutationCOLAMD(
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const VariableIndex& variableIndex);
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/**
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* Compute a permutation (variable ordering) using constrained colamd to move
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* a set of variables to the end of the ordering
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* @param variableIndex is the variable index lookup from a graph
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* @param constrainlast is a vector of keys that should be constrained
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* @tparam constrainLast is a std::vector (or similar structure)
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* @param forceOrder if true, will not allow re-ordering of constrained variables
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*/
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template<typename CONSTRAINED>
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Permutation::shared_ptr PermutationCOLAMD(
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const VariableIndex& variableIndex, const CONSTRAINED& constrainLast, bool forceOrder=false);
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/**
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* Compute a permutation of variable ordering using constrained colamd to
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* move variables to the end in groups (0 = unconstrained, higher numbers at
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* the end).
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* @param variableIndex is the variable index lookup from a graph
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* @param constraintMap is a map from variable index -> group number for constrained variables
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* @tparam CONSTRAINED_MAP is an associative structure (like std::map), from size_t->int
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*/
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template<typename CONSTRAINED_MAP>
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Permutation::shared_ptr PermutationCOLAMDGrouped(
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const VariableIndex& variableIndex, const CONSTRAINED_MAP& constraints);
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/**
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* Compute a CCOLAMD permutation using the constraint groups in cmember.
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* The format for cmember is a part of ccolamd.
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*
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* @param variableIndex is the variable structure from a graph
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* @param cmember is the constraint group list for each variable, where
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* 0 is the default, unconstrained group, and higher numbers move further to
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* the back of the list
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*
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* AGC: does cmember change?
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*/
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GTSAM_EXPORT Permutation::shared_ptr PermutationCOLAMD_(
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const VariableIndex& variableIndex, std::vector<int>& cmember);
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} // \namespace inference
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} // \namespace gtsam
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#include <gtsam/inference/inference-inl.h>
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