77 lines
1.5 KiB
C
77 lines
1.5 KiB
C
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/*
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* SymbolicFactorGraph.h
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*
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* Created on: Oct 29, 2009
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* Author: Frank Dellaert
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*/
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#ifndef SYMBOLICFACTORGRAPH_H_
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#define SYMBOLICFACTORGRAPH_H_
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#include <string>
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#include <list>
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#include "FactorGraph.h"
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namespace gtsam {
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/** Symbolic Factor */
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class SymbolicFactor: public Testable<SymbolicFactor> {
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private:
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std::list<std::string> keys_;
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public:
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typedef boost::shared_ptr<SymbolicFactor> shared_ptr;
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/**
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* Constructor from a list of keys
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*/
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SymbolicFactor(std::list<std::string> keys) :
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keys_(keys) {
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}
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/**
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* Constructor that combines a set of factors
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* @param factors Set of factors to combine
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*/
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SymbolicFactor(const std::vector<shared_ptr> & factors);
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/** print */
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void print(const std::string& s = "SymbolicFactor") const;
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/** check equality */
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bool equals(const SymbolicFactor& other, double tol = 1e-9) const;
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/**
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* Find all variables
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* @return The set of all variable keys
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*/
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std::list<std::string> keys() const {
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return keys_;
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}
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};
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/** Symbolic Factor Graph */
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class SymbolicFactorGraph: public FactorGraph<SymbolicFactor> {
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public:
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SymbolicFactorGraph() {
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}
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template<class Factor>
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SymbolicFactorGraph(const FactorGraph<Factor>& fg) {
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for (size_t i = 0; i < fg.size(); i++) {
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boost::shared_ptr<Factor> f = fg[i];
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std::list<std::string> keys = f->keys();
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SymbolicFactor::shared_ptr factor(new SymbolicFactor(keys));
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push_back(factor);
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}
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}
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};
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}
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#endif /* SYMBOLICFACTORGRAPH_H_ */
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