gtsam/inference/IndexConditional.h

/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

/**
 * @file    IndexConditional.h
 * @brief   
 * @author  Richard Roberts
 * @created Oct 17, 2010
 */

#pragma once

#include <gtsam/inference/ConditionalBase.h>
#include <gtsam/inference/IndexFactor.h>

namespace gtsam {

class IndexFactor;

class IndexConditional : public ConditionalBase<Index> {

public:

  typedef IndexConditional This;
  typedef ConditionalBase<Index> Base;
  typedef IndexFactor Factor;
  typedef boost::shared_ptr<IndexConditional> shared_ptr;

  /** Empty Constructor to make serialization possible */
  IndexConditional() {}

  /** No parents */
  IndexConditional(Index j) : Base(j) {}

  /** Single parent */
  IndexConditional(Index j, Index parent) : Base(j, parent) {}

  /** Two parents */
  IndexConditional(Index j, Index parent1, Index parent2) : Base(j, parent1, parent2) {}

  /** Three parents */
  IndexConditional(Index j, Index parent1, Index parent2, Index parent3) : Base(j, parent1, parent2, parent3) {}

  /** Constructor from a frontal variable and a vector of parents */
  IndexConditional(Index j, const std::vector<Index>& parents) : Base(j, parents) {}

  /** Constructor from a frontal variable and an iterator range of parents */
  template<typename ITERATOR>
  static shared_ptr FromRange(Index j, ITERATOR firstParent, ITERATOR lastParent) {
    return Base::FromRange<This>(j, firstParent, lastParent); }

  /** Named constructor from any number of frontal variables and parents */
  template<typename ITERATOR>
  static shared_ptr FromRange(ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals) {
    return Base::FromRange<This>(firstKey, lastKey, nrFrontals); }

};

}