DiscreteBayesTree.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/discrete/DiscreteBayesNet.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/Conditional.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>
 
#include <string>
 
namespace gtsam {
 
// Forward declarations
class DiscreteConditional;
class VectorValues;
 
/* ************************************************************************* */
class GTSAM_EXPORT DiscreteBayesTreeClique
    : public BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph> {
 public:
  typedef DiscreteBayesTreeClique This;
  typedef BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph>
      Base;
  typedef std::shared_ptr<This> shared_ptr;
  typedef std::weak_ptr<This> weak_ptr;
  DiscreteBayesTreeClique() {}
  DiscreteBayesTreeClique(
      const std::shared_ptr<DiscreteConditional>& conditional)
      : Base(conditional) {}

  void printSignature(
      const std::string& s = "Clique: ",
      const KeyFormatter& formatter = DefaultKeyFormatter) const {
    conditional_->printSignature(s, formatter);
  }
 
  //** evaluate conditional probability of subtree for given DiscreteValues */
  double evaluate(const DiscreteValues& values) const;
 
  //** (Preferred) sugar for the above for given DiscreteValues */
  double operator()(const DiscreteValues& values) const {
    return evaluate(values);
  }
};
 
/* ************************************************************************* */
class GTSAM_EXPORT DiscreteBayesTree
    : public BayesTree<DiscreteBayesTreeClique> {
 private:
  typedef BayesTree<DiscreteBayesTreeClique> Base;
 
 public:
  typedef DiscreteBayesTree This;
  typedef std::shared_ptr<This> shared_ptr;


  DiscreteBayesTree() {}

  bool equals(const This& other, double tol = 1e-9) const;
 
  //** evaluate probability for given DiscreteValues */
  double evaluate(const DiscreteValues& values) const;
 
  //** (Preferred) sugar for the above for given DiscreteValues */
  double operator()(const DiscreteValues& values) const {
    return evaluate(values);
  }


  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                       const DiscreteFactor::Names& names = {}) const;

  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                   const DiscreteFactor::Names& names = {}) const;

};

template <>
struct traits<DiscreteBayesTreeClique>
    : public Testable<DiscreteBayesTreeClique> {};
 
template <>
struct traits<DiscreteBayesTree> : public Testable<DiscreteBayesTree> {};
 
}  // namespace gtsam
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
BOOST_CLASS_VERSION(gtsam::DiscreteBayesTree, 1)
#endif