64 lines
2.1 KiB
C++
64 lines
2.1 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 GaussianEliminationTree.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/linear/GaussianBayesNet.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/inference/EliminationTree.h>
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namespace gtsam {
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class GTSAM_EXPORT GaussianEliminationTree :
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public EliminationTree<GaussianBayesNet, GaussianFactorGraph>
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{
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public:
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typedef EliminationTree<GaussianBayesNet, GaussianFactorGraph> Base; ///< Base class
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typedef GaussianEliminationTree 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 pre-computed 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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GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
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const VariableIndex& structure, const Ordering& order);
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/** Build the elimination tree of a factor graph. Note that this has to compute the column
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* structure as a VariableIndex, so if you already have this precomputed, use the other
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* constructor instead.
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* @param factorGraph The factor graph for which to build the elimination tree
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*/
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GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
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const Ordering& order);
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/** Test whether the tree is equal to another */
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bool equals(const This& other, double tol = 1e-9) const;
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private:
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friend class ::EliminationTreeTester;
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};
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}
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