45 lines
1.1 KiB
C
45 lines
1.1 KiB
C
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/**
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* @file SymbolicBayesNet.h
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* @brief Symbolic Chordal Bayes Net, the result of eliminating a factor graph
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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 "Testable.h"
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#include "BayesNet.h"
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#include "SymbolicConditional.h"
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#include "Key.h"
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namespace gtsam {
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/**
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* Symbolic Bayes Chain, the (symbolic) result of eliminating a factor graph
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*/
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typedef BayesNet<SymbolicConditional> SymbolicBayesNet;
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/**
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* Construct from a Bayes net of any type
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*/
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template<class Conditional>
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SymbolicBayesNet symbolic(const BayesNet<Conditional>& bn) {
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SymbolicBayesNet result;
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typename BayesNet<Conditional>::const_iterator it = bn.begin();
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for (; it != bn.end(); it++) {
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boost::shared_ptr<Conditional> conditional = *it;
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Symbol key = conditional->key();
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std::list<Symbol> parents = conditional->parents();
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SymbolicConditional::shared_ptr c(new SymbolicConditional(key, parents));
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result.push_back(c);
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}
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return result;
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}
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} /// namespace gtsam
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