BayesTreeCliqueBase.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 <boost/optional.hpp>
#include <gtsam/base/types.h>
#include <gtsam/base/FastVector.h>

namespace gtsam {

  // Forward declarations
  template<class CLIQUE> class BayesTree;
  template<class GRAPH> struct EliminationTraits;

  template<class DERIVED, class FACTORGRAPH>
  class BayesTreeCliqueBase
  {
  private:
    typedef BayesTreeCliqueBase<DERIVED, FACTORGRAPH> This;
    typedef DERIVED DerivedType;
    typedef EliminationTraits<FACTORGRAPH> EliminationTraitsType;
    typedef boost::shared_ptr<This> shared_ptr;
    typedef boost::weak_ptr<This> weak_ptr;
    typedef boost::shared_ptr<DerivedType> derived_ptr;
    typedef boost::weak_ptr<DerivedType> derived_weak_ptr;

  public:
    typedef FACTORGRAPH FactorGraphType;
    typedef typename EliminationTraitsType::BayesNetType BayesNetType;
    typedef typename BayesNetType::ConditionalType ConditionalType;
    typedef boost::shared_ptr<ConditionalType> sharedConditional;
    typedef typename FactorGraphType::FactorType FactorType;
    typedef typename FactorGraphType::Eliminate Eliminate;

  protected:


    BayesTreeCliqueBase() : problemSize_(1) {}

    BayesTreeCliqueBase(const sharedConditional& conditional) : conditional_(conditional), problemSize_(1) {}


    mutable boost::optional<FactorGraphType> cachedSeparatorMarginal_;

  public:
    sharedConditional conditional_;
    derived_weak_ptr parent_;
    FastVector<derived_ptr> children;
    int problemSize_;

    void setEliminationResult(const typename FactorGraphType::EliminationResult& eliminationResult);


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

    void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;


    const sharedConditional& conditional() const { return conditional_; }

    inline bool isRoot() const { return parent_.expired(); }

    size_t treeSize() const;

    size_t numCachedSeparatorMarginals() const;

    derived_ptr parent() const { return parent_.lock(); }

    int problemSize() const { return problemSize_; }


    BayesNetType shortcut(const derived_ptr& root, Eliminate function = EliminationTraitsType::DefaultEliminate) const;

    FactorGraphType separatorMarginal(Eliminate function = EliminationTraitsType::DefaultEliminate) const;

    FactorGraphType marginal2(Eliminate function = EliminationTraitsType::DefaultEliminate) const;

    void deleteCachedShortcuts();

    const boost::optional<FactorGraphType>& cachedSeparatorMarginal() const {
      return cachedSeparatorMarginal_; }

    friend class BayesTree<DerivedType>;

  protected:

    FastVector<Key> separator_setminus_B(const derived_ptr& B) const;

    FastVector<Key> shortcut_indices(const derived_ptr& B, const FactorGraphType& p_Cp_B) const;

    void deleteCachedShortcutsNonRecursive() { cachedSeparatorMarginal_ = boost::none; }

  private:

    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_NVP(conditional_);
      ar & BOOST_SERIALIZATION_NVP(parent_);
      ar & BOOST_SERIALIZATION_NVP(children);
    }


  };

}