91 lines
2.4 KiB
C++
91 lines
2.4 KiB
C++
/*
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* SymbolicFactorGraph.h
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*
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* Created on: Oct 29, 2009
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* Author: Frank Dellaert
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*/
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#ifndef SYMBOLICFACTORGRAPH_H_
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#define SYMBOLICFACTORGRAPH_H_
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#include <string>
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#include <list>
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#include "FactorGraph.h"
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#include "SymbolicFactor.h"
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#include "SymbolicBayesNet.h"
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#include "Key.h"
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#include "LieConfig.h"
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namespace gtsam {
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class Point2;
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typedef LieConfig<Symbol, Point2> SymbolicConfig;
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class SymbolicConditional;
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/** Symbolic Factor Graph */
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class SymbolicFactorGraph: public FactorGraph<SymbolicFactor> {
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public:
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/** Construct empty factor graph */
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SymbolicFactorGraph() {}
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/** Push back unary factor */
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void push_factor(const Symbol& key) {
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boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key));
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push_back(factor);
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}
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/** Push back binary factor */
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void push_factor(const Symbol& key1, const Symbol& key2) {
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boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2));
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push_back(factor);
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}
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/** Push back ternary factor */
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void push_factor(const Symbol& key1, const Symbol& key2, const Symbol& key3) {
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boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2,key3));
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push_back(factor);
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}
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/** Push back 4-way factor */
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void push_factor(const Symbol& key1, const Symbol& key2, const Symbol& key3, const Symbol& key4) {
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boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2,key3,key4));
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push_back(factor);
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}
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/**
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* Construct from a factor graph of any type
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*/
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template<class Factor>
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SymbolicFactorGraph(const FactorGraph<Factor>& fg) {
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for (size_t i = 0; i < fg.size(); i++) {
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boost::shared_ptr<Factor> f = fg[i];
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std::list<Symbol> keys = f->keys();
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SymbolicFactor::shared_ptr factor(new SymbolicFactor(keys));
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push_back(factor);
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}
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}
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/**
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* Eliminate a single node yielding a conditional Gaussian
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* Eliminates the factors from the factor graph through findAndRemoveFactors
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* and adds a new factor on the separator to the factor graph
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*/
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boost::shared_ptr<SymbolicConditional> eliminateOne(const Symbol& key);
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/**
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* eliminate factor graph in place(!) in the given order, yielding
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* a chordal Bayes net
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*/
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SymbolicBayesNet eliminate(const Ordering& ordering);
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};
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// save graph to the graphviz format
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void saveGraph(const SymbolicFactorGraph& fg, const SymbolicConfig& config, const std::string& s);
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}
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#endif /* SYMBOLICFACTORGRAPH_H_ */
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