68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
/**
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* @file BayesChain-inl.h
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* @brief Bayes chain template definitions
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* @author Frank Dellaert
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*/
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#include <iostream>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include "BayesChain.h"
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using namespace std;
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// trick from some reading group
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#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
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namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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void BayesChain<Conditional>::print(const string& s) const {
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cout << s << ":\n";
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BOOST_FOREACH(string key, keys_) {
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const_iterator it = nodes_.find(key);
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it->second->print("Node[" + key + "]");
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}
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}
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/* ************************************************************************* */
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template<class Conditional>
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bool BayesChain<Conditional>::equals(const BayesChain& cbn, double tol) const {
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if(size() != cbn.size()) return false;
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if(keys_ != cbn.keys_) return false;
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string key;
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boost::shared_ptr<Conditional> node;
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FOREACH_PAIR( key, node, nodes_) {
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const_iterator cg = cbn.nodes_.find(key);
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if (cg == nodes_.end()) return false;
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if (!equals_star(node,cg->second,tol)) return false;
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}
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return true;
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}
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/* ************************************************************************* */
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template<class Conditional>
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void BayesChain<Conditional>::insert
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(const string& key, boost::shared_ptr<Conditional> node) {
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keys_.push_front(key);
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nodes_.insert(make_pair(key,node));
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}
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/* ************************************************************************* */
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template<class Conditional>
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void BayesChain<Conditional>::erase(const string& key) {
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list<string>::iterator it;
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for (it=keys_.begin(); it != keys_.end(); ++it){
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if( strcmp(key.c_str(), (*it).c_str()) == 0 )
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break;
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}
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keys_.erase(it);
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nodes_.erase(key);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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