SymbolicBayesNet.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/symbolic/SymbolicConditional.h>
#include <gtsam/inference/BayesNet.h>
#include <gtsam/inference/FactorGraph.h>
#include <gtsam/base/types.h>

namespace gtsam {

  class SymbolicBayesNet : public BayesNet<SymbolicConditional> {
   public:
    typedef BayesNet<SymbolicConditional> Base;
    typedef SymbolicBayesNet This;
    typedef SymbolicConditional ConditionalType;
    typedef std::shared_ptr<This> shared_ptr;
    typedef std::shared_ptr<ConditionalType> sharedConditional;


    SymbolicBayesNet() {}

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

    template <class CONTAINER>
    explicit SymbolicBayesNet(const CONTAINER& conditionals) {
      push_back(conditionals);
    }

    template <class DERIVEDCONDITIONAL>
    explicit SymbolicBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph)
        : Base(graph) {}

    SymbolicBayesNet(std::initializer_list<std::shared_ptr<SymbolicConditional>> conditionals)
        : Base(conditionals) {}

    SymbolicBayesNet(SymbolicConditional&& c) {
      emplace_shared<SymbolicConditional>(c);
    }

    SymbolicBayesNet& operator()(SymbolicConditional&& c) {
      emplace_shared<SymbolicConditional>(c);
      return *this;
    }



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

    GTSAM_EXPORT void print(
        const std::string& s = "SymbolicBayesNet",
        const KeyFormatter& formatter = DefaultKeyFormatter) const override {
      Base::print(s, formatter);
    }


  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<SymbolicBayesNet> : public Testable<SymbolicBayesNet> {
  };

} //\ namespace gtsam