42 lines
1.2 KiB
C++
42 lines
1.2 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 GaussianBayesTree-inl.h
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* @brief Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree
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* @brief GaussianBayesTree
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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 <boost/foreach.hpp>
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#include <gtsam/linear/GaussianBayesTree.h> // Only to help Eclipse
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namespace gtsam {
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/* ************************************************************************* */
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namespace internal {
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template<class BAYESTREE>
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void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValues& result) {
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// parents are assumed to already be solved and available in result
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clique->conditional()->solveInPlace(result);
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// starting from the root, call optimize on each conditional
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BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, clique->children_)
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optimizeInPlace<BAYESTREE>(child, result);
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}
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}
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}
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