69 lines
2.6 KiB
C++
69 lines
2.6 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 DiscreteJunctionTree.h
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* @date Mar 29, 2013
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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/discrete/DiscreteFactorGraph.h>
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#include <gtsam/discrete/DiscreteBayesTree.h>
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#include <gtsam/inference/JunctionTree.h>
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namespace gtsam {
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// Forward declarations
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class DiscreteEliminationTree;
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/**
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* An EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree,
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* with the additional property that it represents the clique tree associated with a Bayes net.
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*
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* In GTSAM a junction tree is an intermediate data structure in multifrontal
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* variable elimination. Each node is a cluster of factors, along with a
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* clique of variables that are eliminated all at once. In detail, every node k represents
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* a clique (maximal fully connected subset) of an associated chordal graph, such as a
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* chordal Bayes net resulting from elimination.
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*
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* The difference with the BayesTree is that a JunctionTree stores factors, whereas a
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* BayesTree stores conditionals, that are the product of eliminating the factors in the
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* corresponding JunctionTree cliques.
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*
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* The tree structure and elimination method are exactly analogous to the EliminationTree,
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* except that in the JunctionTree, at each node multiple variables are eliminated at a time.
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*
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* \addtogroup Multifrontal
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* \nosubgrouping
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*/
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class GTSAM_EXPORT DiscreteJunctionTree :
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public JunctionTree<DiscreteBayesTree, DiscreteFactorGraph> {
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public:
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typedef JunctionTree<DiscreteBayesTree, DiscreteFactorGraph> Base; ///< Base class
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typedef DiscreteJunctionTree This; ///< This class
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typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
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/**
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* Build the elimination tree of a factor graph using precomputed column structure.
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* @param factorGraph The factor graph for which to build the elimination tree
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* @param structure The set of factors involving each variable. If this is not
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* precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
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* named constructor instead.
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* @return The elimination tree
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*/
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DiscreteJunctionTree(const DiscreteEliminationTree& eliminationTree);
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};
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}
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