83 lines
1.8 KiB
C++
83 lines
1.8 KiB
C++
/**
|
|
* @file Conditional.h
|
|
* @brief Base class for conditional densities
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <boost/utility.hpp> // for noncopyable
|
|
#include <boost/serialization/string.hpp>
|
|
#include <boost/serialization/access.hpp>
|
|
#include <boost/serialization/nvp.hpp>
|
|
#include <gtsam/base/Testable.h>
|
|
#include <gtsam/inference/Key.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Base class for conditional densities
|
|
*
|
|
* We make it noncopyable so we enforce the fact that factors are
|
|
* kept in pointer containers. To be safe, you should make them
|
|
* immutable, i.e., practicing functional programming.
|
|
*/
|
|
class Conditional: boost::noncopyable, public Testable<Conditional> {
|
|
protected:
|
|
|
|
/** key of random variable */
|
|
Symbol key_;
|
|
|
|
public:
|
|
|
|
/** empty constructor for serialization */
|
|
Conditional() {}
|
|
|
|
/** constructor */
|
|
Conditional(const Symbol& key) : key_(key) {}
|
|
|
|
/* destructor */
|
|
virtual ~Conditional() {
|
|
}
|
|
|
|
/** check equality */
|
|
bool equals(const Conditional& c, double tol = 1e-9) const {
|
|
return key_ == c.key_;
|
|
}
|
|
|
|
/** return key */
|
|
inline const Symbol& key() const {
|
|
return key_;
|
|
}
|
|
|
|
/** return parent keys */
|
|
virtual std::list<Symbol> parents() const = 0;
|
|
|
|
/** return the number of parents */
|
|
virtual std::size_t nrParents() const = 0;
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class Archive>
|
|
void serialize(Archive & ar, const unsigned int version) {
|
|
ar & BOOST_SERIALIZATION_NVP(key_);
|
|
}
|
|
};
|
|
|
|
// predicate to check whether a conditional has the sought key
|
|
template<class Conditional>
|
|
class onKey {
|
|
const Symbol& key_;
|
|
public:
|
|
onKey(const Symbol& key) :
|
|
key_(key) {
|
|
}
|
|
bool operator()(const typename Conditional::shared_ptr& conditional) {
|
|
return (conditional->key() == key_);
|
|
}
|
|
};
|
|
}
|