62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file SymbolicSequentialSolver.h
|
|
* @brief
|
|
* @author Richard Roberts
|
|
* @created Oct 21, 2010
|
|
*/
|
|
#pragma once
|
|
|
|
#include <gtsam/inference/GenericSequentialSolver.h>
|
|
#include <gtsam/inference/SymbolicFactorGraph.h>
|
|
|
|
namespace gtsam {
|
|
|
|
// The base class provides all of the needed functionality
|
|
typedef GenericSequentialSolver<IndexFactor> SymbolicSequentialSolver;
|
|
|
|
//class SymbolicSequentialSolver : GenericSequentialSolver<IndexFactor> {
|
|
//
|
|
//protected:
|
|
//
|
|
// typedef GenericSequentialSolver<IndexFactor> Base;
|
|
//
|
|
//public:
|
|
//
|
|
// SymbolicSequentialSolver(const FactorGraph<IndexFactor>& factorGraph);
|
|
//
|
|
// /**
|
|
// * Eliminate the factor graph sequentially. Uses a column elimination tree
|
|
// * to recursively eliminate.
|
|
// */
|
|
// BayesNet<IndexConditional>::shared_ptr eliminate() const;
|
|
//
|
|
// /**
|
|
// * Compute the marginal Gaussian density over a variable, by integrating out
|
|
// * all of the other variables. This function returns the result as a factor.
|
|
// */
|
|
// IndexFactor::shared_ptr marginal(Index j) const;
|
|
//
|
|
// /**
|
|
// * Compute the marginal joint over a set of variables, by integrating out
|
|
// * all of the other variables. This function returns the result as an upper-
|
|
// * triangular R factor and right-hand-side, i.e. a GaussianBayesNet with
|
|
// * R*x = d. To get a mean and covariance matrix, use jointStandard(...)
|
|
// */
|
|
// SymbolicFactorGraph::shared_ptr joint(const std::vector<Index>& js) const;
|
|
//
|
|
//};
|
|
|
|
}
|
|
|