90 lines
3.1 KiB
C++
90 lines
3.1 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 SymbolicFactorGraph.cpp
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* @date Oct 29, 2009
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* @author Frank Dellaert
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*/
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/BayesNet.h>
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#include <gtsam/inference/EliminationTree.h>
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#include <gtsam/inference/IndexConditional.h>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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using namespace std;
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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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push_back(boost::make_shared<IndexFactor>(key));
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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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push_back(boost::make_shared<IndexFactor>(key1,key2));
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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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push_back(boost::make_shared<IndexFactor>(key1,key2,key3));
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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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push_back(boost::make_shared<IndexFactor>(key1,key2,key3,key4));
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}
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/* ************************************************************************* */
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FastSet<Index>
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SymbolicFactorGraph::keys() const {
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FastSet<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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IndexFactor::shared_ptr CombineSymbolic(
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const FactorGraph<IndexFactor>& factors, const FastMap<Index,
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vector<Index> >& variableSlots) {
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IndexFactor::shared_ptr combined(Combine<IndexFactor, Index> (factors, variableSlots));
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// combined->assertInvariants();
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return combined;
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}
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/* ************************************************************************* */
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pair<IndexConditional::shared_ptr, IndexFactor::shared_ptr> //
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EliminateSymbolic(const FactorGraph<IndexFactor>& factors, size_t nrFrontals) {
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FastSet<Index> keys;
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BOOST_FOREACH(const IndexFactor::shared_ptr& factor, factors)
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BOOST_FOREACH(Index var, *factor)
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keys.insert(var);
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if (keys.size() < 1) throw invalid_argument(
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"IndexFactor::CombineAndEliminate called on factors with no variables.");
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vector<Index> newKeys(keys.begin(), keys.end());
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return make_pair(new IndexConditional(newKeys, nrFrontals),
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new IndexFactor(newKeys.begin() + nrFrontals, newKeys.end()));
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}
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/* ************************************************************************* */
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}
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