68 lines
2.2 KiB
C++
68 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file DiscreteEliminationTree.h
|
|
* @date Mar 29, 2013
|
|
* @author Frank Dellaert
|
|
* @author Richard Roberts
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/discrete/DiscreteBayesNet.h>
|
|
#include <gtsam/discrete/DiscreteFactorGraph.h>
|
|
#include <gtsam/inference/EliminationTree.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* @brief Elimination tree for discrete factors.
|
|
* @ingroup discrete
|
|
*/
|
|
class GTSAM_EXPORT DiscreteEliminationTree :
|
|
public EliminationTree<DiscreteBayesNet, DiscreteFactorGraph>
|
|
{
|
|
public:
|
|
typedef EliminationTree<DiscreteBayesNet, DiscreteFactorGraph> Base; ///< Base class
|
|
typedef DiscreteEliminationTree This; ///< This class
|
|
typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
|
|
|
|
/**
|
|
* Build the elimination tree of a factor graph using pre-computed column structure.
|
|
* @param factorGraph The factor graph for which to build the elimination tree
|
|
* @param structure The set of factors involving each variable. If this is not
|
|
* precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
|
|
* named constructor instead.
|
|
* @return The elimination tree
|
|
*/
|
|
DiscreteEliminationTree(const DiscreteFactorGraph& factorGraph,
|
|
const VariableIndex& structure, const Ordering& order);
|
|
|
|
/** Build the elimination tree of a factor graph. Note that this has to compute the column
|
|
* structure as a VariableIndex, so if you already have this precomputed, use the other
|
|
* constructor instead.
|
|
* @param factorGraph The factor graph for which to build the elimination tree
|
|
*/
|
|
DiscreteEliminationTree(const DiscreteFactorGraph& factorGraph,
|
|
const Ordering& order);
|
|
|
|
/** Test whether the tree is equal to another */
|
|
bool equals(const This& other, double tol = 1e-9) const;
|
|
|
|
private:
|
|
|
|
friend class ::EliminationTreeTester;
|
|
|
|
};
|
|
|
|
}
|