HybridBayesTree.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/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/inference/BayesTree.h>
#include <gtsam/inference/BayesTreeCliqueBase.h>
#include <gtsam/inference/Conditional.h>
#include <gtsam/linear/GaussianBayesTree.h>
 
#include <string>
 
namespace gtsam {
 
// Forward declarations
class HybridConditional;
class VectorValues;
 
/* ************************************************************************* */
class GTSAM_EXPORT HybridBayesTreeClique
    : public BayesTreeCliqueBase<HybridBayesTreeClique,
                                 HybridGaussianFactorGraph> {
 public:
  typedef HybridBayesTreeClique This;
  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridGaussianFactorGraph>
      Base;
  typedef std::shared_ptr<This> shared_ptr;
  typedef std::weak_ptr<This> weak_ptr;
  HybridBayesTreeClique() {}
  HybridBayesTreeClique(const std::shared_ptr<HybridConditional>& conditional)
      : Base(conditional) {}
  HybridBayesTreeClique(const HybridBayesTreeClique& clique) : Base(clique) {}
};
 
/* ************************************************************************* */
class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 private:
  typedef BayesTree<HybridBayesTreeClique> Base;
 
 public:
  typedef HybridBayesTree This;
  typedef std::shared_ptr<This> shared_ptr;
 
 
  HybridBayesTree() = default;
 
  bool equals(const This& other, double tol = 1e-9) const;
 
  GaussianBayesTree choose(const DiscreteValues& assignment) const;
 
  double error(const HybridValues& values) const;
 
  HybridValues optimize() const;
 
  VectorValues optimize(const DiscreteValues& assignment) const;
 
  void prune(const size_t maxNumberLeaves);
 
 
 private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
#endif
};
 
template <>
struct traits<HybridBayesTreeClique> : public Testable<HybridBayesTreeClique> {
};
 
template <>
struct traits<HybridBayesTree> : public Testable<HybridBayesTree> {};
 
template <>
class BayesTreeOrphanWrapper<HybridBayesTreeClique> : public HybridConditional {
 public:
  typedef HybridBayesTreeClique CliqueType;
  typedef HybridConditional Base;
 
  std::shared_ptr<CliqueType> clique;
 
  BayesTreeOrphanWrapper(const std::shared_ptr<CliqueType>& clique)
      : clique(clique) {
    // Store parent keys in our base type factor so that eliminating those
    // parent keys will pull this subtree into the elimination.
    this->keys_.assign(clique->conditional()->beginParents(),
                       clique->conditional()->endParents());
    this->discreteKeys_.assign(clique->conditional()->discreteKeys().begin(),
                               clique->conditional()->discreteKeys().end());
  }
 
  void print(
      const std::string& s = "",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override {
    clique->print(s + " stored clique ", formatter);
  }
};
 
}  // namespace gtsam