43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
|
/**
|
||
|
|
* @file GaussianBayesTree
|
||
|
|
* @brief Bayes Tree is a tree of cliques of a Bayes Chain
|
||
|
|
* @author Michael Kaess
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <boost/foreach.hpp>
|
||
|
|
|
||
|
|
#include "GaussianBayesTree.h"
|
||
|
|
#include "VectorConfig.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
using namespace gtsam;
|
||
|
|
|
||
|
|
// Explicitly instantiate so we don't have to include everywhere
|
||
|
|
#include "BayesTree-inl.h"
|
||
|
|
template class BayesTree<GaussianConditional>;
|
||
|
|
|
||
|
|
namespace gtsam {
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
void optimize(GaussianBayesTree::sharedClique clique, VectorConfig& result) {
|
||
|
|
#if 0
|
||
|
|
// parents are assumed to already be solved and available in result
|
||
|
|
BOOST_REVERSE_FOREACH(GaussianConditional::shared_ptr cg, clique) {
|
||
|
|
Vector x = cg->solve(result); // Solve for that variable
|
||
|
|
result.insert(cg->key(),x); // store result in partial solution
|
||
|
|
}
|
||
|
|
BOOST_FOREACH(GaussianBayesTree::sharedClique child, clique->children_) {
|
||
|
|
optimize(child, result);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
VectorConfig optimize(GaussianBayesTree& bayesTree) {
|
||
|
|
VectorConfig result;
|
||
|
|
// starting from the root, call optimize on each conditional
|
||
|
|
optimize(bayesTree.root(), result);
|
||
|
|
}
|
||
|
|
|
||
|
|
} /// namespace gtsam
|