gtsam  4.1.0
gtsam
Conditional.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 // \callgraph
19 #pragma once
20 
21 #include <boost/range.hpp>
22 
23 #include <gtsam/inference/Key.h>
24 
25 namespace gtsam {
26 
39  template<class FACTOR, class DERIVEDCONDITIONAL>
41  {
42  protected:
44  size_t nrFrontals_;
45 
46  private:
49 
50  public:
52  typedef boost::iterator_range<typename FACTOR::const_iterator> Frontals;
53 
55  typedef boost::iterator_range<typename FACTOR::const_iterator> Parents;
56 
57  protected:
60 
63 
66 
68 
69  public:
72 
74  void print(const std::string& s = "Conditional", const KeyFormatter& formatter = DefaultKeyFormatter) const;
75 
77  bool equals(const This& c, double tol = 1e-9) const;
78 
80 
83 
85  size_t nrFrontals() const { return nrFrontals_; }
86 
88  size_t nrParents() const { return asFactor().size() - nrFrontals_; }
89 
91  Key firstFrontalKey() const {
92  if(nrFrontals_ > 0)
93  return asFactor().front();
94  else
95  throw std::invalid_argument("Requested Conditional::firstFrontalKey from a conditional with zero frontal keys");
96  }
97 
99  Frontals frontals() const { return boost::make_iterator_range(beginFrontals(), endFrontals()); }
100 
102  Parents parents() const { return boost::make_iterator_range(beginParents(), endParents()); }
103 
105  typename FACTOR::const_iterator beginFrontals() const { return asFactor().begin(); }
106 
108  typename FACTOR::const_iterator endFrontals() const { return asFactor().begin() + nrFrontals_; }
109 
111  typename FACTOR::const_iterator beginParents() const { return endFrontals(); }
112 
114  typename FACTOR::const_iterator endParents() const { return asFactor().end(); }
115 
119 
121  size_t& nrFrontals() { return nrFrontals_; }
122 
124  typename FACTOR::iterator beginFrontals() { return asFactor().begin(); }
125 
127  typename FACTOR::iterator endFrontals() { return asFactor().begin() + nrFrontals_; }
128 
130  typename FACTOR::iterator beginParents() { return asFactor().begin() + nrFrontals_; }
131 
133  typename FACTOR::iterator endParents() { return asFactor().end(); }
134 
135  private:
136  // Cast to factor type (non-const) (casts down to derived conditional type, then up to factor type)
137  FACTOR& asFactor() { return static_cast<FACTOR&>(static_cast<DERIVEDCONDITIONAL&>(*this)); }
138 
139  // Cast to derived type (const) (casts down to derived conditional type, then up to factor type)
140  const FACTOR& asFactor() const { return static_cast<const FACTOR&>(static_cast<const DERIVEDCONDITIONAL&>(*this)); }
141 
143  friend class boost::serialization::access;
144  template<class ARCHIVE>
145  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
146  ar & BOOST_SERIALIZATION_NVP(nrFrontals_);
147  }
148 
150 
151  };
152 
153 } // gtsam
gtsam::Conditional::nrFrontals
size_t & nrFrontals()
Mutable version of nrFrontals.
Definition: Conditional.h:121
gtsam::Conditional::nrParents
size_t nrParents() const
return the number of parents
Definition: Conditional.h:88
gtsam::Conditional::Conditional
Conditional()
Empty Constructor to make serialization possible.
Definition: Conditional.h:62
gtsam::Conditional::beginParents
FACTOR::iterator beginParents()
Mutable iterator pointing to the first parent key.
Definition: Conditional.h:130
gtsam::Conditional::Parents
boost::iterator_range< typename FACTOR::const_iterator > Parents
View of the separator keys (call parents())
Definition: Conditional.h:55
gtsam::Conditional
TODO: Update comments.
Definition: Conditional.h:41
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:61
gtsam::Conditional::frontals
Frontals frontals() const
return a view of the frontal keys
Definition: Conditional.h:99
gtsam::Conditional::print
void print(const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const
print with optional formatter
Definition: Conditional-inst.h:29
gtsam::Conditional::beginFrontals
FACTOR::const_iterator beginFrontals() const
Iterator pointing to first frontal key.
Definition: Conditional.h:105
gtsam::Conditional::beginFrontals
FACTOR::iterator beginFrontals()
Mutable iterator pointing to first frontal key.
Definition: Conditional.h:124
gtsam::Conditional::endFrontals
FACTOR::iterator endFrontals()
Mutable iterator pointing past the last frontal key.
Definition: Conditional.h:127
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::Conditional::equals
bool equals(const This &c, double tol=1e-9) const
check equality
Definition: Conditional-inst.h:42
gtsam::Conditional::endParents
FACTOR::iterator endParents()
Mutable iterator pointing past the last parent key.
Definition: Conditional.h:133
gtsam::Conditional::Conditional
Conditional(size_t nrFrontals)
Constructor.
Definition: Conditional.h:65
gtsam::Conditional::firstFrontalKey
Key firstFrontalKey() const
Convenience function to get the first frontal key.
Definition: Conditional.h:91
Key.h
gtsam::KeyFormatter
boost::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::Conditional::Frontals
boost::iterator_range< typename FACTOR::const_iterator > Frontals
View of the frontal keys (call frontals())
Definition: Conditional.h:52
gtsam::Conditional::endParents
FACTOR::const_iterator endParents() const
Iterator pointing past the last parent key.
Definition: Conditional.h:114
gtsam::Conditional::parents
Parents parents() const
return a view of the parent keys
Definition: Conditional.h:102
gtsam::Conditional::nrFrontals
size_t nrFrontals() const
return the number of frontals
Definition: Conditional.h:85
gtsam::Conditional::nrFrontals_
size_t nrFrontals_
The first nrFrontal variables are frontal and the rest are parents.
Definition: Conditional.h:44
gtsam::Conditional::beginParents
FACTOR::const_iterator beginParents() const
Iterator pointing to the first parent key.
Definition: Conditional.h:111
gtsam::Conditional::endFrontals
FACTOR::const_iterator endFrontals() const
Iterator pointing past the last frontal key.
Definition: Conditional.h:108