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SymbolicBayesTree.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 <gtsam/symbolic/SymbolicBayesNet.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>
namespace gtsam {
// Forward declarations
class SymbolicConditional;
/* ************************************************************************* */
class GTSAM_EXPORT SymbolicBayesTreeClique :
public BayesTreeCliqueBase<SymbolicBayesTreeClique, SymbolicFactorGraph>
{
public:
typedef SymbolicBayesTreeClique This;
typedef BayesTreeCliqueBase<SymbolicBayesTreeClique, SymbolicFactorGraph> Base;
typedef boost::shared_ptr<This> shared_ptr;
typedef boost::weak_ptr<This> weak_ptr;
SymbolicBayesTreeClique() {}
virtual ~SymbolicBayesTreeClique() {}
SymbolicBayesTreeClique(const boost::shared_ptr<SymbolicConditional>& conditional) : Base(conditional) {}
};
/* ************************************************************************* */
class GTSAM_EXPORT SymbolicBayesTree :
public BayesTree<SymbolicBayesTreeClique>
{
private:
typedef BayesTree<SymbolicBayesTreeClique> Base;
public:
typedef SymbolicBayesTree This;
typedef boost::shared_ptr<This> shared_ptr;
SymbolicBayesTree() {}
bool equals(const This& other, double tol = 1e-9) const;
private:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
};
template<> struct traits<SymbolicBayesTreeClique> : public Testable<SymbolicBayesTreeClique> {};
template<> struct traits<SymbolicBayesTree> : public Testable<SymbolicBayesTree> {};
} //\ namespace gtsam
BayesTreeCliqueBase.h
Base class for cliques of a BayesTree.
BayesTree.h
Bayes Tree is a tree of cliques of a Bayes Chain.
SymbolicBayesNet.h
SymbolicFactorGraph.h
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
gtsam::equals
Template to create a binary predicate.
Definition Testable.h:111
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
gtsam::BayesTree< SymbolicBayesTreeClique >::BayesTree
BayesTree()
Definition BayesTree.h:109
gtsam::BayesTreeCliqueBase< SymbolicBayesTreeClique, SymbolicFactorGraph >::BayesTreeCliqueBase
BayesTreeCliqueBase()
Definition BayesTreeCliqueBase.h:74
gtsam::BayesTreeCliqueBase< SymbolicBayesTreeClique, SymbolicFactorGraph >::conditional
const sharedConditional & conditional() const
Definition BayesTreeCliqueBase.h:141
gtsam::SymbolicBayesTreeClique
A clique in a SymbolicBayesTree.
Definition SymbolicBayesTree.h:35
gtsam::SymbolicBayesTree
A Bayes tree that represents the connectivity between variables but is not associated with any probab...
Definition SymbolicBayesTree.h:51
gtsam::SymbolicBayesTree::SymbolicBayesTree
SymbolicBayesTree()
Default constructor, creates an empty Bayes tree.
Definition SymbolicBayesTree.h:60
gtsam::SymbolicConditional
SymbolicConditional is a conditional with keys but no probability data, produced by symbolic eliminat...
Definition SymbolicConditional.h:38