89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file BayesNet.h
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* @brief Bayes network
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* @author Frank Dellaert
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* @author Richard Roberts
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*/
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#pragma once
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#include <gtsam/inference/FactorGraph.h>
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#include <boost/shared_ptr.hpp>
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#include <string>
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namespace gtsam {
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/**
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* A BayesNet is a tree of conditionals, stored in elimination order.
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* @ingroup inference
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*/
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template <class CONDITIONAL>
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class BayesNet : public FactorGraph<CONDITIONAL> {
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private:
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typedef FactorGraph<CONDITIONAL> Base;
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public:
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typedef typename boost::shared_ptr<CONDITIONAL>
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sharedConditional; ///< A shared pointer to a conditional
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protected:
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/// @name Standard Constructors
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/// @{
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/** Default constructor as an empty BayesNet */
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BayesNet() {}
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/** Construct from iterator over conditionals */
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template <typename ITERATOR>
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BayesNet(ITERATOR firstConditional, ITERATOR lastConditional)
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: Base(firstConditional, lastConditional) {}
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/// @}
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public:
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/// @name Testable
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/// @{
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/** print out graph */
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void print(
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const std::string& s = "BayesNet",
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const KeyFormatter& formatter = DefaultKeyFormatter) const override;
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/// @}
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/// @name Graph Display
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/// @{
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/// Output to graphviz format, stream version.
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void dot(std::ostream& os,
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const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const DotWriter& writer = DotWriter()) const;
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/// Output to graphviz format string.
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std::string dot(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const DotWriter& writer = DotWriter()) const;
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/// output to file with graphviz format.
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void saveGraph(const std::string& filename,
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const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const DotWriter& writer = DotWriter()) const;
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/// @}
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};
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} // namespace gtsam
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#include <gtsam/inference/BayesNet-inst.h>
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