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added 4-way symbolic factor 

fixed a bug in the bayes tree to graphviz routine
release/4.3a0
Kai Ni 2010-02-09 21:32:14 +00:00
parent d2a4bdae3c
commit 31fc894a4a
5 changed files with 26 additions and 3 deletions
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10
cpp/BayesTree-inl.h
View File

@ -101,20 +101,24 @@ namespace gtsam {
template<class Conditional>
void BayesTree<Conditional>::saveGraph(ostream &s,
BayesTree<Conditional>::sharedClique clique,
int parentnum, int num) const {
int parentnum) const {
static int num = 0;
bool first = true;
std::stringstream out;
out << num;
string parent = out.str();
parent += "[label=\"";
BOOST_FOREACH(boost::shared_ptr<Conditional> c, clique->conditionals_) {
if(!first) parent += ","; first = false;
parent += (string(c->key())).c_str();
}
if( clique != root_){
parent += " : ";
s << parentnum << "->" << num << "\n";
}
first = true;
BOOST_FOREACH(const Symbol& sep, clique->separator_) {
if(!first) parent += ","; first = false;
@ -123,8 +127,10 @@ namespace gtsam {
parent += "\"];\n";
s << parent;
parentnum = num;
BOOST_FOREACH(sharedClique c, clique->children_) {
saveGraph(s, c, parentnum, ++num);
num++;
saveGraph(s, c, parentnum);
}
}

2
cpp/BayesTree.h
View File

@ -131,7 +131,7 @@ namespace gtsam {
void saveGraph(const std::string& s) const;
private:
void saveGraph(std::ostream &s, sharedClique clique,
int parentnum = 0, int num = 0) const;
int parentnum = 0) const;
public:
/** check equality */

8
cpp/SymbolicFactor.h
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@ -56,6 +56,14 @@ namespace gtsam {
keys_.push_back(key3);
}
/** Construct 4-way factor */
SymbolicFactor(const Symbol& key1, const Symbol& key2, const Symbol& key3, const Symbol& key4) {
keys_.push_back(key1);
keys_.push_back(key2);
keys_.push_back(key3);
keys_.push_back(key4);
}
/**
* Constructor that combines a set of factors
* @param factors Set of factors to combine

6
cpp/SymbolicFactorGraph.h
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@ -44,6 +44,12 @@ namespace gtsam {
push_back(factor);
}
/** Push back 4-way factor */
void push_factor(const Symbol& key1, const Symbol& key2, const Symbol& key3, const Symbol& key4) {
boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2,key3,key4));
push_back(factor);
}
/**
* Construct from a factor graph of any type
*/

3
cpp/testBayesTree.cpp
View File

@ -121,6 +121,9 @@ TEST( BayesTree, constructor )
list<Symbol> parents2; parents2 += _L_, _E_;
CHECK(assert_equal(_E_,bayesTree.findParentClique(parents2, index)));
list<Symbol> parents3; parents3 += _L_, _B_;
CHECK(assert_equal(_L_,bayesTree.findParentClique(parents3, index)));
}
/* ************************************************************************* */