99 lines
2.1 KiB
C++
99 lines
2.1 KiB
C++
/*
|
|
* SymbolicFactor.h
|
|
*
|
|
* Created on: Oct 29, 2009
|
|
* Author: Frank Dellaert
|
|
*/
|
|
|
|
#ifndef SYMBOLICFACTOR_H_
|
|
#define SYMBOLICFACTOR_H_
|
|
|
|
#include <list>
|
|
#include <string>
|
|
#include <vector>
|
|
#include <boost/shared_ptr.hpp>
|
|
#include "Testable.h"
|
|
#include "Ordering.h"
|
|
|
|
namespace gtsam {
|
|
|
|
class SymbolicConditional;
|
|
|
|
/** Symbolic Factor */
|
|
class SymbolicFactor: public Testable<SymbolicFactor> {
|
|
private:
|
|
|
|
std::list<std::string> keys_;
|
|
|
|
public:
|
|
|
|
typedef boost::shared_ptr<SymbolicFactor> shared_ptr;
|
|
|
|
/** Construct from SymbolicConditional */
|
|
SymbolicFactor(const boost::shared_ptr<SymbolicConditional>& c);
|
|
|
|
/** Constructor from a list of keys */
|
|
SymbolicFactor(const Ordering& keys) :
|
|
keys_(keys) {
|
|
}
|
|
|
|
/** Construct unary factor */
|
|
SymbolicFactor(const std::string& key) {
|
|
keys_.push_back(key);
|
|
}
|
|
|
|
/** Construct binary factor */
|
|
SymbolicFactor(const std::string& key1, const std::string& key2) {
|
|
keys_.push_back(key1);
|
|
keys_.push_back(key2);
|
|
}
|
|
|
|
/** Construct ternary factor */
|
|
SymbolicFactor(const std::string& key1, const std::string& key2, const std::string& key3) {
|
|
keys_.push_back(key1);
|
|
keys_.push_back(key2);
|
|
keys_.push_back(key3);
|
|
}
|
|
|
|
/**
|
|
* Constructor that combines a set of factors
|
|
* @param factors Set of factors to combine
|
|
*/
|
|
SymbolicFactor(const std::vector<shared_ptr> & factors);
|
|
|
|
/** print */
|
|
void print(const std::string& s = "SymbolicFactor") const;
|
|
|
|
/** check equality */
|
|
bool equals(const SymbolicFactor& other, double tol = 1e-9) const;
|
|
|
|
/**
|
|
* Find all variables
|
|
* @return The set of all variable keys
|
|
*/
|
|
std::list<std::string> keys() const {
|
|
return keys_;
|
|
}
|
|
|
|
/**
|
|
* eliminate one of the variables connected to this factor
|
|
* @param key the key of the node to be eliminated
|
|
* @return a new factor and a symbolic conditional on the eliminated variable
|
|
*/
|
|
std::pair<boost::shared_ptr<SymbolicConditional>, shared_ptr>
|
|
eliminate(const std::string& key) const;
|
|
|
|
/**
|
|
* Check if empty factor
|
|
*/
|
|
inline bool empty() const {
|
|
return keys_.empty();
|
|
}
|
|
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* SYMBOLICFACTOR_H_ */
|