gtsam 4.2.0
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DiscreteBayesTree.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
21#pragma once
22
28
29#include <string>
30
31namespace gtsam {
32
33// Forward declarations
34class DiscreteConditional;
35class VectorValues;
36
37/* ************************************************************************* */
39class GTSAM_EXPORT DiscreteBayesTreeClique
40 : public BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph> {
41 public:
44 Base;
45 typedef boost::shared_ptr<This> shared_ptr;
46 typedef boost::weak_ptr<This> weak_ptr;
48 virtual ~DiscreteBayesTreeClique() {}
50 const boost::shared_ptr<DiscreteConditional>& conditional)
51 : Base(conditional) {}
52
55 const std::string& s = "Clique: ",
56 const KeyFormatter& formatter = DefaultKeyFormatter) const {
57 conditional_->printSignature(s, formatter);
58 }
59
60 //** evaluate conditional probability of subtree for given DiscreteValues */
61 double evaluate(const DiscreteValues& values) const;
62};
63
64/* ************************************************************************* */
69class GTSAM_EXPORT DiscreteBayesTree
70 : public BayesTree<DiscreteBayesTreeClique> {
71 private:
73
74 public:
75 typedef DiscreteBayesTree This;
76 typedef boost::shared_ptr<This> shared_ptr;
77
80
82
84 bool equals(const This& other, double tol = 1e-9) const;
85
86 //** evaluate probability for given DiscreteValues */
87 double evaluate(const DiscreteValues& values) const;
88
89 //** (Preferred) sugar for the above for given DiscreteValues */
90 double operator()(const DiscreteValues& values) const {
91 return evaluate(values);
92 }
93
97
99 std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
100 const DiscreteFactor::Names& names = {}) const;
101
103 std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
104 const DiscreteFactor::Names& names = {}) const;
105
107};
108
109} // namespace gtsam
Base class for cliques of a BayesTree.
Base class for conditional densities.
Bayes Tree is a tree of cliques of a Bayes Chain.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
string html(const DiscreteValues &values, const KeyFormatter &keyFormatter, const DiscreteValues::Names &names)
Free version of html.
Definition DiscreteValues.cpp:134
std::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
Template to create a binary predicate.
Definition Testable.h:111
A clique in a DiscreteBayesTree.
Definition DiscreteBayesTree.h:40
void printSignature(const std::string &s="Clique: ", const KeyFormatter &formatter=DefaultKeyFormatter) const
print index signature only
Definition DiscreteBayesTree.h:54
A Bayes tree representing a Discrete density.
Definition DiscreteBayesTree.h:70
DiscreteBayesTree()
Default constructor, creates an empty Bayes tree.
Definition DiscreteBayesTree.h:81
A map from keys to values.
Definition DiscreteValues.h:34
Bayes tree.
Definition BayesTree.h:67
This is the base class for BayesTree cliques.
Definition BayesTreeCliqueBase.h:50
The Factor::error simply extracts the.