74 lines
2.7 KiB
C++
74 lines
2.7 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 DiscreteBayesNet.cpp
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* @date Feb 15, 2011
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* @author Duy-Nguyen Ta
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* @author Frank Dellaert
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*/
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#include <gtsam/discrete/DiscreteBayesNet.h>
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#include <gtsam/discrete/DiscreteConditional.h>
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#include <gtsam/inference/FactorGraph-inst.h>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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// Instantiate base class
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template class FactorGraph<DiscreteConditional>;
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/* ************************************************************************* */
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bool DiscreteBayesNet::equals(const This& bn, double tol) const
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{
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return Base::equals(bn, tol);
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}
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/* ************************************************************************* */
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// void DiscreteBayesNet::add_front(const Signature& s) {
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// push_front(boost::make_shared<DiscreteConditional>(s));
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// }
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/* ************************************************************************* */
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void DiscreteBayesNet::add(const Signature& s) {
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push_back(boost::make_shared<DiscreteConditional>(s));
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}
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/* ************************************************************************* */
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double DiscreteBayesNet::evaluate(const DiscreteConditional::Values & values) const {
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// evaluate all conditionals and multiply
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double result = 1.0;
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BOOST_FOREACH(DiscreteConditional::shared_ptr conditional, *this)
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result *= (*conditional)(values);
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return result;
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}
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/* ************************************************************************* */
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DiscreteFactor::sharedValues DiscreteBayesNet::optimize() const {
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// solve each node in turn in topological sort order (parents first)
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DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
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BOOST_REVERSE_FOREACH (DiscreteConditional::shared_ptr conditional, *this)
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conditional->solveInPlace(*result);
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return result;
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}
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/* ************************************************************************* */
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DiscreteFactor::sharedValues DiscreteBayesNet::sample() const {
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// sample each node in turn in topological sort order (parents first)
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DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
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BOOST_REVERSE_FOREACH(DiscreteConditional::shared_ptr conditional, *this)
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conditional->sampleInPlace(*result);
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return result;
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}
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/* ************************************************************************* */
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} // namespace
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