ClusterTree.h

Go to the documentation of this file.

#pragma once

#include <gtsam/base/Testable.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Key.h>

namespace gtsam
{

  template<class BAYESTREE, class GRAPH>
  class ClusterTree
  {
  public:
    typedef GRAPH FactorGraphType; 
    typedef typename GRAPH::FactorType FactorType; 
    typedef ClusterTree<BAYESTREE, GRAPH> This; 
    typedef boost::shared_ptr<This> shared_ptr; 
    typedef boost::shared_ptr<FactorType> sharedFactor;  
    typedef BAYESTREE BayesTreeType; 
    typedef typename BayesTreeType::ConditionalType ConditionalType; 
    typedef boost::shared_ptr<ConditionalType> sharedConditional; 
    typedef typename FactorGraphType::Eliminate Eliminate; 

    struct Cluster {
      typedef FastVector<Key> Keys;
      typedef FastVector<sharedFactor> Factors;
      typedef FastVector<boost::shared_ptr<Cluster> > Children;

      Keys keys; 
      Factors factors; 
      Children children; 
      int problemSize_;

      int problemSize() const { return problemSize_; }

      void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
    };

    typedef boost::shared_ptr<Cluster> sharedCluster; 
    typedef Cluster Node; 
    typedef sharedCluster sharedNode; 

    GTSAM_CONCEPT_TESTABLE_TYPE(FactorType);

  protected:
    FastVector<sharedNode> roots_;
    FastVector<sharedFactor> remainingFactors_;


    ClusterTree(const This& other) { *this = other; }


  public:

    void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;



    std::pair<boost::shared_ptr<BayesTreeType>, boost::shared_ptr<FactorGraphType> >
      eliminate(const Eliminate& function) const;



    const FastVector<sharedNode>& roots() const { return roots_; }

    const FastVector<sharedFactor>& remainingFactors() const { return remainingFactors_; }


  protected:

    This& operator=(const This& other);

    ClusterTree() {}


  };


}