gtsam/inference/Conditional.h

/**
 * @file    Conditional.h
 * @brief   Base class for conditional densities
 * @author  Frank Dellaert
 */

// \callgraph

#pragma once

#include <boost/utility.hpp> // for noncopyable
#include <boost/serialization/string.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
#include "Testable.h"
#include "Key.h"

namespace gtsam {

/**
 * Base class for conditional densities
 *
 * We make it noncopyable so we enforce the fact that factors are
 * kept in pointer containers. To be safe, you should make them
 * immutable, i.e., practicing functional programming.
 */
class Conditional: boost::noncopyable, public Testable<Conditional> {
protected:

	/** key of random variable */
  Symbol key_;

public:

	/** empty constructor for serialization */
	Conditional() {}

	/** constructor */
	Conditional(const Symbol& key) : key_(key) {}

	/* destructor */
	virtual ~Conditional() {
	}

	/** check equality */
	bool equals(const Conditional& c, double tol = 1e-9) const {
		return key_ == c.key_;
	}

	/** return key */
	inline const Symbol& key() const {
		return key_;
	}

	/** return parent keys */
	virtual std::list<Symbol> parents() const = 0;

	/** return the number of parents */
	virtual std::size_t nrParents() const = 0;

private:
	/** Serialization function */
	friend class boost::serialization::access;
	template<class Archive>
	void serialize(Archive & ar, const unsigned int version) {
		ar & BOOST_SERIALIZATION_NVP(key_);
	}
};

// predicate to check whether a conditional has the sought key
template<class Conditional>
class onKey {
	const Symbol& key_;
public:
	onKey(const Symbol& key) :
		key_(key) {
	}
	bool operator()(const typename Conditional::shared_ptr& conditional) {
		return (conditional->key() == key_);
	}
};
}