gtsam 4.1.1 gtsam
DiscreteMarginals.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
9
10 * -------------------------------------------------------------------------- */
11
21#pragma once
22
25#include <gtsam/base/Vector.h>
26
27namespace gtsam {
28
33
34 protected:
35
36 DiscreteBayesTree::shared_ptr bayesTree_;
37
38 public:
39
44 bayesTree_ = graph.eliminateMultifrontal();
45 }
46
49 // Compute marginal
50 DiscreteFactor::shared_ptr marginalFactor;
51 marginalFactor = bayesTree_->marginalFactor(variable, &EliminateDiscrete);
52 return marginalFactor;
53 }
54
59 Vector marginalProbabilities(const DiscreteKey& key) const {
60 // Compute marginal
61 DiscreteFactor::shared_ptr marginalFactor;
62 marginalFactor = bayesTree_->marginalFactor(key.first, &EliminateDiscrete);
63
64 //Create result
65 Vector vResult(key.second);
66 for (size_t state = 0; state < key.second ; ++ state) {
68 values[key.first] = state;
69 vResult(state) = (*marginalFactor)(values);
70 }
71 return vResult;
72 }
73
74 };
75
76} /* namespace gtsam */
typedef and functions to augment Eigen's VectorXd
Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
std::pair< DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr > EliminateDiscrete(const DiscreteFactorGraph &factors, const Ordering &frontalKeys)
Main elimination function for DiscreteFactorGraph.
Definition: DiscreteFactorGraph.cpp:105
std::pair< Key, size_t > DiscreteKey
Key type for discrete conditionals Includes name and cardinality.
Definition: DiscreteKey.h:34
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:69
An assignment from labels to value index (size_t).
Definition: Assignment.h:34
boost::shared_ptr< DiscreteFactor > shared_ptr
shared_ptr to this class
Definition: DiscreteFactor.h:40
A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e.
Definition: DiscreteFactorGraph.h:66
A class for computing marginals of variables in a DiscreteFactorGraph.
Definition: DiscreteMarginals.h:32
Vector marginalProbabilities(const DiscreteKey &key) const
Compute the marginal of a single variable.
Definition: DiscreteMarginals.h:59
DiscreteMarginals(const DiscreteFactorGraph &graph)
Construct a marginals class.
Definition: DiscreteMarginals.h:43
DiscreteFactor::shared_ptr operator()(Key variable) const
Compute the marginal of a single variable.
Definition: DiscreteMarginals.h:48