DiscreteFactor.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/Assignment.h>
#include <gtsam/inference/Factor.h>
#include <gtsam/base/Testable.h>
 
namespace gtsam {
 
class DecisionTreeFactor;
class DiscreteConditional;
 
class GTSAM_EXPORT DiscreteFactor: public Factor {
 
public:
 
  // typedefs needed to play nice with gtsam
  typedef DiscreteFactor This; 
  typedef boost::shared_ptr<DiscreteFactor> shared_ptr; 
  typedef Factor Base; 
 
  typedef Assignment<Key> Values;
  typedef boost::shared_ptr<Values> sharedValues;
 
public:
 
 
  DiscreteFactor() {}
 
  template<typename CONTAINER>
  DiscreteFactor(const CONTAINER& keys) : Base(keys) {}
 
  virtual ~DiscreteFactor() {
  }
 
 
  virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;
 
  void print(
      const std::string& s = "DiscreteFactor\n",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override {
    Base::print(s, formatter);
  }
 
  virtual bool empty() const { return size() == 0; }
 
 
  virtual double operator()(const Values&) const = 0;
 
  virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0;
 
  virtual DecisionTreeFactor toDecisionTreeFactor() const = 0;
 
};
// DiscreteFactor
 
// traits
template<> struct traits<DiscreteFactor> : public Testable<DiscreteFactor> {};
template<> struct traits<DiscreteFactor::Values> : public Testable<DiscreteFactor::Values> {};
 
}// namespace gtsam