103 lines
2.6 KiB
C++
103 lines
2.6 KiB
C++
/**
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* @file BayesTree
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* @brief Bayes Tree is a tree of cliques of a Bayes Chain
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include <map>
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#include <list>
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#include <vector>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include "Testable.h"
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#include "BayesNet.h"
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namespace gtsam {
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/**
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* Bayes tree
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* Templated on the Conditional class, the type of node in the underlying Bayes chain.
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* This could be a ConditionalProbabilityTable, a ConditionalGaussian, or a SymbolicConditional
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*/
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template<class Conditional>
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class BayesTree: public Testable<BayesTree<Conditional> > {
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public:
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typedef boost::shared_ptr<Conditional> conditional_ptr;
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private:
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/** A Node in the tree is an incomplete Bayes net: the variables
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* in the Bayes net are the frontal nodes, and the variables conditioned
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* on is the separator. We also have pointers up and down the tree.
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*/
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struct Node : public BayesNet<Conditional> {
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typedef boost::shared_ptr<Node> shared_ptr;
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shared_ptr parent_;
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std::list<std::string> separator_; /** separator keys */
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std::list<shared_ptr> children_;
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//* Constructor */
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Node(const boost::shared_ptr<Conditional>& conditional);
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/** The size *includes* the separator */
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size_t size() const { return this->conditionals_.size() + separator_.size(); }
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/** print this node */
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void print(const std::string& s="Bayes tree node") const;
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/** print this node and entire subtree below it*/
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void printTree(const std::string& indent) const;
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};
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/** Map from keys to Node */
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typedef boost::shared_ptr<Node> node_ptr;
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typedef std::map<std::string, node_ptr> Nodes;
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Nodes nodes_;
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/** Roor clique */
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node_ptr root_;
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/** add a clique */
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node_ptr addClique(const conditional_ptr& conditional, node_ptr parent_clique=node_ptr());
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public:
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/** Create an empty Bayes Tree */
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BayesTree();
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/** Create a Bayes Tree from a Bayes Net */
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BayesTree(const BayesNet<Conditional>& bayesNet);
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/** Destructor */
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virtual ~BayesTree() {}
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/** print */
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void print(const std::string& s = "") const;
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/** check equality */
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bool equals(const BayesTree<Conditional>& other, double tol = 1e-9) const;
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/** insert a new conditional */
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void insert(const boost::shared_ptr<Conditional>& conditional);
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/** number of cliques */
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inline size_t size() const { return nodes_.size();}
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/** return root clique */
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boost::shared_ptr<BayesNet<Conditional> > root() const {return root_;}
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/** return marginal on any variable */
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template<class Factor>
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boost::shared_ptr<Conditional> marginal(const std::string& key) const;
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}; // BayesTree
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} /// namespace gtsam
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