GaussianBayesTree.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/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>

namespace gtsam {

  // Forward declarations
  class GaussianConditional;
  class VectorValues;

  /* ************************************************************************* */
  class GTSAM_EXPORT GaussianBayesTreeClique :
    public BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>
  {
  public:
    typedef GaussianBayesTreeClique This;
    typedef BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph> Base;
    typedef boost::shared_ptr<This> shared_ptr;
    typedef boost::weak_ptr<This> weak_ptr;
    GaussianBayesTreeClique() {}
    virtual ~GaussianBayesTreeClique() {}
    GaussianBayesTreeClique(const boost::shared_ptr<GaussianConditional>& conditional) : Base(conditional) {}
  };

  /* ************************************************************************* */
  class GTSAM_EXPORT GaussianBayesTree :
    public BayesTree<GaussianBayesTreeClique>
  {
  private:
    typedef BayesTree<GaussianBayesTreeClique> Base;

  public:
    typedef GaussianBayesTree This;
    typedef boost::shared_ptr<This> shared_ptr;

    GaussianBayesTree() {}

    bool equals(const This& other, double tol = 1e-9) const;

    VectorValues optimize() const;

    VectorValues optimizeGradientSearch() const;

    VectorValues gradient(const VectorValues& x0) const;

    VectorValues gradientAtZero() const;

    double error(const VectorValues& x) const;

    double determinant() const;

    double logDeterminant() const;

    Matrix marginalCovariance(Key key) const;
  };

  template<>
  struct traits<GaussianBayesTree> : public Testable<GaussianBayesTree> {
  };

} //\ namespace gtsam