2014-01-29 08:38:28 +08:00
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/*
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* NestedDissection.h
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*
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* Created on: Nov 27, 2010
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* Author: nikai
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* Description: apply nested dissection algorithm to the factor graph
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*/
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#pragma once
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <gtsam/nonlinear/Ordering.h>
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namespace gtsam { namespace partition {
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2014-10-31 00:44:46 +08:00
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/**
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* Apply nested dissection algorithm to nonlinear factor graphs
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*/
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template <class NLG, class SubNLG, class GenericGraph>
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class NestedDissection {
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public:
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typedef boost::shared_ptr<SubNLG> sharedSubNLG;
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private:
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NLG fg_; // the original nonlinear factor graph
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Ordering ordering_; // the variable ordering in the nonlinear factor graph
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std::vector<Symbol> int2symbol_; // the mapping from integer key to symbol
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sharedSubNLG root_; // the root of generated cluster tree
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public:
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sharedSubNLG root() const { return root_; }
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public:
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/* constructor with post-determined partitoning*/
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NestedDissection(const NLG& fg, const Ordering& ordering, const int numNodeStopPartition, const int minNodesPerMap, const bool verbose = false);
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/* constructor with pre-determined cuts*/
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NestedDissection(const NLG& fg, const Ordering& ordering, const boost::shared_ptr<Cuts>& cuts, const bool verbose = false);
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private:
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/* convert generic subgraph to nonlinear subgraph */
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sharedSubNLG makeSubNLG(const NLG& fg, const std::vector<size_t>& frontals, const std::vector<size_t>& sep, const boost::shared_ptr<SubNLG>& parent) const;
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void processFactor(const typename GenericGraph::value_type& factor, const std::vector<int>& partitionTable, // input
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std::vector<GenericGraph>& frontalFactors, NLG& sepFactors, std::vector<std::set<size_t> >& childSeps, // output factor graphs
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typename SubNLG::Weeklinks& weeklinks) const;
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/* recursively partition the generic graph */
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void partitionFactorsAndVariables(
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const GenericGraph& fg, const GenericUnaryGraph& unaryFactors,
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const std::vector<size_t>& keys, const std::vector<int>& partitionTable, const int numSubmaps, // input
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std::vector<GenericGraph>& frontalFactors, vector<GenericUnaryGraph>& frontalUnaryFactors, NLG& sepFactors, // output factor graphs
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std::vector<std::vector<size_t> >& childFrontals, std::vector<std::vector<size_t> >& childSeps, std::vector<size_t>& localFrontals, // output sub-orderings
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typename SubNLG::Weeklinks& weeklinks) const;
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NLG collectOriginalFactors(const GenericGraph& gfg, const GenericUnaryGraph& unaryFactors) const;
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/* recursively partition the generic graph */
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sharedSubNLG recursivePartition(const GenericGraph& gfg, const GenericUnaryGraph& unaryFactors, const std::vector<size_t>& frontals, const std::vector<size_t>& sep,
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const int numNodeStopPartition, const int minNodesPerMap, const boost::shared_ptr<SubNLG>& parent, WorkSpace& workspace, const bool verbose) const;
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/* recursively partition the generic graph */
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sharedSubNLG recursivePartition(const GenericGraph& gfg, const GenericUnaryGraph& unaryFactors, const std::vector<size_t>& frontals, const std::vector<size_t>& sep,
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const boost::shared_ptr<Cuts>& cuts, const boost::shared_ptr<SubNLG>& parent, WorkSpace& workspace, const bool verbose) const;
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};
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2014-01-29 08:38:28 +08:00
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}} //namespace
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