12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Simplified API

release/4.3a0
Frank Dellaert 2023-01-05 11:52:32 -08:00
parent 1d0f872555
commit 04c7d2edb2
2 changed files with 14 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
gtsam/hybrid/HybridBayesNet.cpp
View File

@ -197,8 +197,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
prunedGaussianMixture->prune(*decisionTree); // imperative :-( prunedGaussianMixture->prune(*decisionTree); // imperative :-(
// Type-erase and add to the pruned Bayes Net fragment. // Type-erase and add to the pruned Bayes Net fragment.
prunedBayesNetFragment.push_back( prunedBayesNetFragment.push_back(prunedGaussianMixture);
boost::make_shared<HybridConditional>(prunedGaussianMixture));
} else { } else {
// Add the non-GaussianMixture conditional // Add the non-GaussianMixture conditional
@ -209,21 +208,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
return prunedBayesNetFragment; return prunedBayesNetFragment;
} }
/* ************************************************************************* */
GaussianMixture::shared_ptr HybridBayesNet::atMixture(size_t i) const {
return at(i)->asMixture();
}
/* ************************************************************************* */
GaussianConditional::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
return at(i)->asGaussian();
}
/* ************************************************************************* */
DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
return at(i)->asDiscrete();
}
/* ************************************************************************* */ /* ************************************************************************* */
GaussianBayesNet HybridBayesNet::choose( GaussianBayesNet HybridBayesNet::choose(
const DiscreteValues &assignment) const { const DiscreteValues &assignment) const {

55
gtsam/hybrid/HybridBayesNet.h
View File

@ -63,55 +63,26 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
/// @{ /// @{
/// Add HybridConditional to Bayes Net /// Add HybridConditional to Bayes Net
using Base::add; using Base::emplace_shared;
/// Add a Gaussian Mixture to the Bayes Net. /// Add a conditional directly using a pointer.
void addMixture(const GaussianMixture::shared_ptr &ptr) { template <class Conditional>
push_back(HybridConditional(ptr)); void emplace_back(Conditional *conditional) {
factors_.push_back(boost::make_shared<HybridConditional>(
boost::shared_ptr<Conditional>(conditional)));
} }
/// Add a Gaussian conditional to the Bayes Net. /// Add a conditional directly using a shared_ptr.
void addGaussian(const GaussianConditional::shared_ptr &ptr) { void push_back(boost::shared_ptr<HybridConditional> conditional) {
push_back(HybridConditional(ptr)); factors_.push_back(conditional);
} }
/// Add a discrete conditional to the Bayes Net. /// Add a conditional directly using implicit conversion.
void addDiscrete(const DiscreteConditional::shared_ptr &ptr) { void push_back(HybridConditional &&conditional) {
push_back(HybridConditional(ptr)); factors_.push_back(
boost::make_shared<HybridConditional>(std::move(conditional)));
} }
/// Add a Gaussian Mixture to the Bayes Net.
template <typename... T>
void emplaceMixture(T &&...args) {
push_back(HybridConditional(
boost::make_shared<GaussianMixture>(std::forward<T>(args)...)));
}
/// Add a Gaussian conditional to the Bayes Net.
template <typename... T>
void emplaceGaussian(T &&...args) {
push_back(HybridConditional(
boost::make_shared<GaussianConditional>(std::forward<T>(args)...)));
}
/// Add a discrete conditional to the Bayes Net.
template <typename... T>
void emplaceDiscrete(T &&...args) {
push_back(HybridConditional(
boost::make_shared<DiscreteConditional>(std::forward<T>(args)...)));
}
using Base::push_back;
/// Get a specific Gaussian mixture by index `i`.
GaussianMixture::shared_ptr atMixture(size_t i) const;
/// Get a specific Gaussian conditional by index `i`.
GaussianConditional::shared_ptr atGaussian(size_t i) const;
/// Get a specific discrete conditional by index `i`.
DiscreteConditional::shared_ptr atDiscrete(size_t i) const;
/** /**
* @brief Get the Gaussian Bayes Net which corresponds to a specific discrete * @brief Get the Gaussian Bayes Net which corresponds to a specific discrete
* value assignment. * value assignment.