gtsam  4.1.0
gtsam
SymbolicBayesTree.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 
19 #pragma once
20 
25 
26 namespace gtsam {
27 
28  // Forward declarations
29  class SymbolicConditional;
30 
31  /* ************************************************************************* */
33  class GTSAM_EXPORT SymbolicBayesTreeClique :
34  public BayesTreeCliqueBase<SymbolicBayesTreeClique, SymbolicFactorGraph>
35  {
36  public:
39  typedef boost::shared_ptr<This> shared_ptr;
40  typedef boost::weak_ptr<This> weak_ptr;
42  virtual ~SymbolicBayesTreeClique() {}
43  SymbolicBayesTreeClique(const boost::shared_ptr<SymbolicConditional>& conditional) : Base(conditional) {}
44  };
45 
46  /* ************************************************************************* */
49  class GTSAM_EXPORT SymbolicBayesTree :
50  public BayesTree<SymbolicBayesTreeClique>
51  {
52  private:
54 
55  public:
56  typedef SymbolicBayesTree This;
57  typedef boost::shared_ptr<This> shared_ptr;
58 
61 
63  bool equals(const This& other, double tol = 1e-9) const;
64 
65  private:
67  friend class boost::serialization::access;
68  template<class ARCHIVE>
69  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
70  ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
71  }
72  };
73 
75 template<> struct traits<SymbolicBayesTreeClique> : public Testable<SymbolicBayesTreeClique> {};
76 template<> struct traits<SymbolicBayesTree> : public Testable<SymbolicBayesTree> {};
77 
78 } //\ namespace gtsam
79 
gtsam::equals
Template to create a binary predicate.
Definition: Testable.h:110
gtsam::BayesTree
Definition: BayesTree.h:65
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
BayesTreeCliqueBase.h
Base class for cliques of a BayesTree.
gtsam::BayesTreeCliqueBase
This is the base class for BayesTree cliques.
Definition: BayesTreeCliqueBase.h:50
gtsam::serialize
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:100
BayesTree.h
Bayes Tree is a tree of cliques of a Bayes Chain.
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::SymbolicBayesTree
A Bayes tree that represents the connectivity between variables but is not associated with any probab...
Definition: SymbolicBayesTree.h:51
SymbolicFactorGraph.h
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:150
gtsam::SymbolicBayesTree::SymbolicBayesTree
SymbolicBayesTree()
Default constructor, creates an empty Bayes tree.
Definition: SymbolicBayesTree.h:60
gtsam::SymbolicBayesTreeClique
A clique in a SymbolicBayesTree.
Definition: SymbolicBayesTree.h:35
SymbolicBayesNet.h