85 lines
2.8 KiB
C++
85 lines
2.8 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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* SymbolicFactorGraph.cpp
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*
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* Created on: Oct 29, 2009
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* Author: Frank Dellaert
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*/
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#include <iostream>
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#include <fstream>
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#include <boost/format.hpp>
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#include <boost/foreach.hpp>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/BayesNet-inl.h>
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#include <gtsam/inference/IndexFactor.h>
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#include <gtsam/inference/inference-inl.h>
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#include <gtsam/inference/EliminationTree-inl.h>
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using namespace std;
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namespace gtsam {
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// Explicitly instantiate so we don't have to include everywhere
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template class FactorGraph<IndexFactor>;
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template class BayesNet<IndexConditional>;
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template class EliminationTree<IndexFactor>;
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/* ************************************************************************* */
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SymbolicFactorGraph::SymbolicFactorGraph(const BayesNet<IndexConditional>& bayesNet) :
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FactorGraph<IndexFactor>(bayesNet) {}
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/* ************************************************************************* */
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void SymbolicFactorGraph::push_factor(Index key) {
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boost::shared_ptr<IndexFactor> factor(new IndexFactor(key));
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push_back(factor);
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}
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/** Push back binary factor */
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void SymbolicFactorGraph::push_factor(Index key1, Index key2) {
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boost::shared_ptr<IndexFactor> factor(new IndexFactor(key1,key2));
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push_back(factor);
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}
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/** Push back ternary factor */
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void SymbolicFactorGraph::push_factor(Index key1, Index key2, Index key3) {
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boost::shared_ptr<IndexFactor> factor(new IndexFactor(key1,key2,key3));
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push_back(factor);
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}
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/** Push back 4-way factor */
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void SymbolicFactorGraph::push_factor(Index key1, Index key2, Index key3, Index key4) {
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boost::shared_ptr<IndexFactor> factor(new IndexFactor(key1,key2,key3,key4));
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push_back(factor);
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}
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/* ************************************************************************* */
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std::set<Index, std::less<Index>, boost::fast_pool_allocator<Index> >
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SymbolicFactorGraph::keys() const {
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std::set<Index, std::less<Index>, boost::fast_pool_allocator<Index> > keys;
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BOOST_FOREACH(const sharedFactor& factor, *this) {
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if(factor) keys.insert(factor->begin(), factor->end()); }
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return keys;
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}
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// /* ************************************************************************* */
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// SymbolicBayesNet
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// SymbolicFactorGraph::eliminateFrontals(const Ordering& ordering)
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// {
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// return Inference::Eliminate(ordering);
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// }
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/* ************************************************************************* */
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}
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