ISAM.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

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

// \callgraph
#pragma once

#include <gtsam/global_includes.h>

namespace gtsam {

  template<class BAYESTREE>
  class ISAM: public BAYESTREE
  {
  public:

    typedef BAYESTREE Base;
    typedef typename Base::BayesNetType BayesNetType;
    typedef typename Base::FactorGraphType FactorGraphType;
    typedef typename Base::Clique Clique;
    typedef typename Base::sharedClique sharedClique;
    typedef typename Base::Cliques Cliques;

  private:

    typedef typename Base::Eliminate Eliminate;
    typedef typename Base::EliminationTraitsType EliminationTraitsType;

  public:


    ISAM() {}

    ISAM(const Base& bayesTree) : Base(bayesTree) {}


    void update(const FactorGraphType& newFactors, const Eliminate& function = EliminationTraitsType::DefaultEliminate);

    void update_internal(const FactorGraphType& newFactors, Cliques& orphans,
      const Eliminate& function = EliminationTraitsType::DefaultEliminate);


  };

}