91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
/**
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* @file ChordalBayesNet.h
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* @brief Chordal Bayes Net, the result of eliminating a factor graph
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* @brief ChordalBayesNet
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include <list>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include "ConditionalGaussian.h"
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#include "FGConfig.h"
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namespace gtsam {
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/** Chordal Bayes Net, the result of eliminating a factor graph */
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class ChordalBayesNet
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{
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public:
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typedef boost::shared_ptr<ChordalBayesNet> shared_ptr;
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protected:
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/** nodes keys stored in topological sort order, i.e. from parents to children */
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std::list<std::string> keys;
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/** nodes stored on key */
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std::map<std::string,ConditionalGaussian::shared_ptr> nodes;
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typedef std::map<std::string, ConditionalGaussian::shared_ptr>::iterator iterator;
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public:
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/** Construct an empty net */
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ChordalBayesNet() {}
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/** Copy Constructor */
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ChordalBayesNet(const ChordalBayesNet& cbn_in) : keys(cbn_in.keys), nodes(cbn_in.nodes) {}
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/** Destructor */
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virtual ~ChordalBayesNet() {}
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/** insert: use reverse topological sort (i.e. parents last) */
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void insert(const std::string& key, ConditionalGaussian::shared_ptr node);
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/** delete */
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void erase(const std::string& key);
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/** return node with given key */
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inline ConditionalGaussian::shared_ptr get (const std::string& key) { return nodes[key];}
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inline ConditionalGaussian::shared_ptr operator[](const std::string& key) { return nodes[key];}
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/** return begin and end of the nodes. FD: breaks encapsulation? */
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typedef std::map<std::string, ConditionalGaussian::shared_ptr>::const_iterator const_iterator;
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const_iterator const begin() const {return nodes.begin();}
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const_iterator const end() const {return nodes.end();}
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/** optimize */
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boost::shared_ptr<FGConfig> optimize();
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boost::shared_ptr<FGConfig> optimize(const boost::shared_ptr<FGConfig> &c);
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/** print */
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void print() const;
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/** check equality */
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bool equals(const ChordalBayesNet& cbn) const;
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/**
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* Return (dense) upper-triangular matrix representation
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*/
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std::pair<Matrix,Vector> matrix() const;
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version)
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{
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ar & BOOST_SERIALIZATION_NVP(keys);
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ar & BOOST_SERIALIZATION_NVP(nodes);
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}
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};
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} /// namespace gtsam
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