53 lines
1.4 KiB
C++
53 lines
1.4 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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* GaussianJunctionTree.h
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* Created on: Jul 12, 2010
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* @author Kai Ni
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* @author Frank Dellaert
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* @brief: the Gaussian junction tree
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*/
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#pragma once
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#include <gtsam/inference/JunctionTree.h>
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#include <gtsam/linear/GaussianConditional.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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namespace gtsam {
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/* ************************************************************************* */
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/**
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* GaussianJunctionTree that does the optimization
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*/
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class GaussianJunctionTree: public JunctionTree<GaussianFactorGraph> {
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public:
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typedef JunctionTree<GaussianFactorGraph> Base;
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typedef Base::sharedClique sharedClique;
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protected:
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// back-substitute in topological sort order (parents first)
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void btreeBackSubstitute(const boost::shared_ptr<const BayesTree::Clique>& current, VectorValues& config) const;
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public :
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GaussianJunctionTree() : Base() {}
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// constructor
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GaussianJunctionTree(const GaussianFactorGraph& fg) : Base(fg) {}
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// optimize the linear graph
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VectorValues optimize() const;
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}; // GaussianJunctionTree
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} // namespace gtsam
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