SymbolicFactor-inst.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/SymbolicFactor.h>
#include <gtsam/symbolic/SymbolicConditional.h>
#include <gtsam/inference/Factor.h>
#include <gtsam/inference/Key.h>
#include <gtsam/base/timing.h>
 
#include <memory>
 
#include <utility>
 
namespace gtsam
{
  namespace internal
  {
    template<class FACTOR>
    std::pair<std::shared_ptr<SymbolicConditional>, std::shared_ptr<SymbolicFactor> >
      EliminateSymbolic(const FactorGraph<FACTOR>& factors, const Ordering& keys)
    {
      gttic(EliminateSymbolic);
 
      // Gather all keys
      KeySet allKeys;
      for(const std::shared_ptr<FACTOR>& factor: factors) {
        // Non-active factors are nullptr
        if (factor)
          allKeys.insert(factor->begin(), factor->end());
      }
 
      // Check keys
      for(Key key: keys) {
        if(allKeys.find(key) == allKeys.end())
          throw std::runtime_error("Requested to eliminate a key that is not in the factors");
      }
 
      // Sort frontal keys
      KeySet frontals(keys);
      const size_t nFrontals = keys.size();
 
      // Build a key vector with the frontals followed by the separator
      KeyVector orderedKeys(allKeys.size());
      std::copy(keys.begin(), keys.end(), orderedKeys.begin());
      std::set_difference(allKeys.begin(), allKeys.end(), frontals.begin(), frontals.end(), orderedKeys.begin() + nFrontals);
 
      // Return resulting conditional and factor
      return {
        SymbolicConditional::FromKeysShared(orderedKeys, nFrontals),
        SymbolicFactor::FromIteratorsShared(orderedKeys.begin() + nFrontals, orderedKeys.end())
      };
    }
  }
}