88 lines
2.3 KiB
C++
88 lines
2.3 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/*
|
|
* SymbolicFactorGraph.h
|
|
*
|
|
* Created on: Oct 29, 2009
|
|
* Author: Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <string>
|
|
#include <list>
|
|
#include <gtsam/base/types.h>
|
|
#include <gtsam/inference/FactorGraph.h>
|
|
#include <gtsam/inference/IndexFactor.h>
|
|
#include <gtsam/inference/BayesNet.h>
|
|
#include <gtsam/inference/IndexConditional.h>
|
|
|
|
namespace gtsam {
|
|
|
|
typedef BayesNet<IndexConditional> SymbolicBayesNet;
|
|
|
|
/** Symbolic IndexFactor Graph */
|
|
class SymbolicFactorGraph: public FactorGraph<IndexFactor> {
|
|
public:
|
|
typedef SymbolicBayesNet bayesnet_type;
|
|
typedef VariableIndex<> variableindex_type;
|
|
|
|
/** Construct empty factor graph */
|
|
SymbolicFactorGraph() {}
|
|
|
|
/** Construct from a BayesNet */
|
|
SymbolicFactorGraph(const BayesNet<IndexConditional>& bayesNet);
|
|
|
|
/** Push back unary factor */
|
|
void push_factor(Index key);
|
|
|
|
/** Push back binary factor */
|
|
void push_factor(Index key1, Index key2);
|
|
|
|
/** Push back ternary factor */
|
|
void push_factor(Index key1, Index key2, Index key3);
|
|
|
|
/** Push back 4-way factor */
|
|
void push_factor(Index key1, Index key2, Index key3, Index key4);
|
|
|
|
/**
|
|
* Construct from a factor graph of any type
|
|
*/
|
|
template<class FACTOR>
|
|
SymbolicFactorGraph(const FactorGraph<FACTOR>& fg);
|
|
|
|
/**
|
|
* Return the set of variables involved in the factors (computes a set
|
|
* union).
|
|
*/
|
|
std::set<Index, std::less<Index>, boost::fast_pool_allocator<Index> > keys() const;
|
|
|
|
/**
|
|
* Same as eliminate in the SymbolicFactorGraph case
|
|
*/
|
|
// SymbolicBayesNet eliminateFrontals(const Ordering& ordering);
|
|
};
|
|
|
|
/* Template function implementation */
|
|
template<class FACTOR>
|
|
SymbolicFactorGraph::SymbolicFactorGraph(const FactorGraph<FACTOR>& fg) {
|
|
for (size_t i = 0; i < fg.size(); i++) {
|
|
if(fg[i]) {
|
|
IndexFactor::shared_ptr factor(new IndexFactor(*fg[i]));
|
|
push_back(factor);
|
|
} else
|
|
push_back(IndexFactor::shared_ptr());
|
|
}
|
|
}
|
|
|
|
} // namespace gtsam
|