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re-format + comments only

release/4.3a0
Frank Dellaert 2011-03-21 15:03:03 +00:00
parent 1829e31ca8
commit a923c8f1b3
1 changed files with 50 additions and 45 deletions
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95
gtsam/inference/GenericSequentialSolver.h
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@ -26,62 +26,67 @@
namespace gtsam { namespace gtsam {
template<class FACTOR> template<class FACTOR>
class GenericSequentialSolver { class GenericSequentialSolver {
protected: protected:
// Store the original factors for computing marginals // Store the original factors for computing marginals
typename FactorGraph<FACTOR>::shared_ptr factors_; typename FactorGraph<FACTOR>::shared_ptr factors_;
// Column structure of the factor graph // Column structure of the factor graph
VariableIndex::shared_ptr structure_; VariableIndex::shared_ptr structure_;
// Elimination tree that performs elimination. // Elimination tree that performs elimination.
typename EliminationTree<FACTOR>::shared_ptr eliminationTree_; typename EliminationTree<FACTOR>::shared_ptr eliminationTree_;
public: public:
/** /**
* Construct the solver for a factor graph. This builds the elimination * Construct the solver for a factor graph. This builds the elimination
* tree, which already does some of the work of elimination. * tree, which already does some of the work of elimination.
*/ */
GenericSequentialSolver(const FactorGraph<FACTOR>& factorGraph); GenericSequentialSolver(const FactorGraph<FACTOR>& factorGraph);
/** /**
* Construct the solver with a shared pointer to a factor graph and to a * Construct the solver with a shared pointer to a factor graph and to a
* VariableIndex. The solver will store these pointers, so this constructor * VariableIndex. The solver will store these pointers, so this constructor
* is the fastest. * is the fastest.
*/ */
GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex); GenericSequentialSolver(
const typename FactorGraph<FACTOR>::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex);
/** /**
* Replace the factor graph with a new one having the same structure. The * Replace the factor graph with a new one having the same structure. The
* This function can be used if the numerical part of the factors changes, * This function can be used if the numerical part of the factors changes,
* such as during relinearization or adjusting of noise models. * such as during relinearization or adjusting of noise models.
*/ */
void replaceFactors(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph); void replaceFactors(
const typename FactorGraph<FACTOR>::shared_ptr& factorGraph);
/** /**
* Eliminate the factor graph sequentially. Uses a column elimination tree * Eliminate the factor graph sequentially. Uses a column elimination tree
* to recursively eliminate. * to recursively eliminate.
*/ */
typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr eliminate() const; typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr
eliminate() const;
/** /**
* Compute the marginal joint over a set of variables, by integrating out * Compute the marginal joint over a set of variables, by integrating out
* all of the other variables. This function returns the result as a factor * all of the other variables. This function returns the result as a factor
* graph. * graph.
*/ */
typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(const std::vector<Index>& js) const; typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
const std::vector<Index>& js) const;
/** /**
* Compute the marginal Gaussian density over a variable, by integrating out * Compute the marginal Gaussian density over a variable, by integrating out
* all of the other variables. This function returns the result as a factor. * all of the other variables. This function returns the result as a factor.
*/ */
typename FACTOR::shared_ptr marginalFactor(Index j) const; typename FACTOR::shared_ptr marginalFactor(Index j) const;
}; }; // GenericSequentialSolver
} } // namespace gtsam