BayesNet.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/inference/FactorGraph.h>

#include <memory>
#include <string>

namespace gtsam {

class HybridValues;

template <class CONDITIONAL>
class BayesNet : public FactorGraph<CONDITIONAL> {
 private:
  typedef FactorGraph<CONDITIONAL> Base;

 public:
  typedef typename std::shared_ptr<CONDITIONAL>
      sharedConditional;  

 protected:

  BayesNet() {}

  template <typename ITERATOR>
  BayesNet(ITERATOR firstConditional, ITERATOR lastConditional)
      : Base(firstConditional, lastConditional) {}

  BayesNet(std::initializer_list<sharedConditional> conditionals)
      : Base(conditionals) {}


 public:

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


  void dot(std::ostream& os,
           const KeyFormatter& keyFormatter = DefaultKeyFormatter,
           const DotWriter& writer = DotWriter()) const;

  std::string dot(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                  const DotWriter& writer = DotWriter()) const;

  void saveGraph(const std::string& filename,
                 const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                 const DotWriter& writer = DotWriter()) const;


  // Expose HybridValues version of logProbability.
  double logProbability(const HybridValues& x) const;

  // Expose HybridValues version of evaluate.
  double evaluate(const HybridValues& c) const;

};

}  // namespace gtsam

#include <gtsam/inference/BayesNet-inst.h>