55 lines
1.1 KiB
C
55 lines
1.1 KiB
C
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/**
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* @file ISAM.h
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* @brief Incremental update functionality (iSAM) for BayesTree.
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* @author Michael Kaess
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*/
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// \callgraph
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#pragma once
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#include <map>
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#include <list>
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#include <vector>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include <stdexcept>
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#include "Testable.h"
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#include "FactorGraph.h"
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#include "BayesNet.h"
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#include "BayesTree.h"
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namespace gtsam {
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template<class Conditional>
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class ISAM: public BayesTree<Conditional> {
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public:
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/** Create an empty Bayes Tree */
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ISAM();
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/** Create a Bayes Tree from a Bayes Net */
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ISAM(const BayesNet<Conditional>& bayesNet);
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/** Destructor */
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virtual ~ISAM() {
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}
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typedef typename BayesTree<Conditional>::sharedClique sharedClique;
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typedef typename BayesTree<Conditional>::Cliques Cliques;
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/**
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* iSAM. (update_internal provides access to list of orphans for drawing purposes)
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*/
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template<class Factor>
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void update_internal(const FactorGraph<Factor>& newFactors, Cliques& orphans);
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template<class Factor>
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void update(const FactorGraph<Factor>& newFactors);
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}; // ISAM
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} /// namespace gtsam
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