GaussianBayesTree.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/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/JointMarginal.h>
#include <gtsam/linear/GaussianBayesTreeQueries.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>
 
namespace gtsam {
 
  // Forward declarations
  class GaussianConditional;
  class VectorValues;
 
  /* ************************************************************************* */
  class GTSAM_EXPORT GaussianBayesTreeClique :
    public BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>
  {
  public:
    typedef GaussianBayesTreeClique This;
    typedef BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph> Base;
    typedef std::shared_ptr<This> shared_ptr;
    typedef std::weak_ptr<This> weak_ptr;
    GaussianBayesTreeClique() {}
    GaussianBayesTreeClique(const std::shared_ptr<GaussianConditional>& conditional) : Base(conditional) {}
  };
 
  /* ************************************************************************* */
  class GTSAM_EXPORT GaussianBayesTree :
    public BayesTree<GaussianBayesTreeClique>
  {
  private:
    typedef BayesTree<GaussianBayesTreeClique> Base;
 
  public:
    typedef GaussianBayesTree This;
    typedef std::shared_ptr<This> shared_ptr;

    GaussianBayesTree() {}

    bool equals(const This& other, double tol = 1e-9) const;

    VectorValues optimize() const;

    VectorValues optimizeGradientSearch() const;

    VectorValues gradient(const VectorValues& x0) const;

    VectorValues gradientAtZero() const;

    double error(const VectorValues& x) const;

    double determinant() const;

    double logDeterminant() const;

    Matrix marginalInformation(Key key) const;

    Matrix marginalCovariance(Key key) const;

    Matrix marginalInformation(Key key, const Eliminate& eliminate) const {
      return internal::marginalInformation(*this, key, eliminate);
    }

    Matrix marginalCovariance(Key key, const Eliminate& eliminate) const {
      return internal::jointMarginalCovariance(*this, KeyVector{key}, eliminate)
          .fullMatrix();
    }

    JointMarginal jointMarginalInformation(const KeyVector& queryKeys) const;

    JointMarginal jointMarginalCovariance(const KeyVector& queryKeys) const;

    JointMarginal jointMarginalInformation(const KeyVector& queryKeys,
                                          const Eliminate& eliminate) const {
      return internal::jointMarginalInformation(*this, queryKeys, eliminate);
    }

    JointMarginal jointMarginalCovariance(const KeyVector& queryKeys,
                                          const Eliminate& eliminate) const {
      return internal::jointMarginalCovariance(*this, queryKeys, eliminate);
    }
  };

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