GaussianBayesTree-inl.h

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/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

#pragma once

#include <boost/foreach.hpp>

#include <gtsam/linear/GaussianBayesTree.h> // Only to help Eclipse

#include <stdarg.h>

namespace gtsam {

/* ************************************************************************* */
namespace internal {
template<class BAYESTREE>
void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValues& result) {
  // parents are assumed to already be solved and available in result
  clique->conditional()->solveInPlace(result);

  // starting from the root, call optimize on each conditional
  BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, clique->children_)
    optimizeInPlace<BAYESTREE>(child, result);
}

/* ************************************************************************* */
template<class BAYESTREE>
double logDeterminant(const typename BAYESTREE::sharedClique& clique) {
  double result = 0.0;

  // this clique
  result += clique->conditional()->get_R().diagonal().unaryExpr(std::ptr_fun<double,double>(log)).sum();

  // sum of children
  BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, clique->children_)
    result += logDeterminant<BAYESTREE>(child);

  return result;
}

/* ************************************************************************* */
} // \namespace internal
} // \namespace gtsam