SymbolicConditional.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/base/Testable.h>
#include <gtsam/base/types.h>
#include <gtsam/inference/Conditional-inst.h>
#include <gtsam/symbolic/SymbolicFactor.h>

namespace gtsam {

  class GTSAM_EXPORT SymbolicConditional :
    public SymbolicFactor,
    public Conditional<SymbolicFactor, SymbolicConditional> {

  public:
    typedef SymbolicConditional This; 
    typedef SymbolicFactor BaseFactor; 
    typedef Conditional<BaseFactor, This> BaseConditional; 
    typedef std::shared_ptr<This> shared_ptr; 
    typedef BaseFactor::iterator iterator; 
    typedef BaseFactor::const_iterator const_iterator; 


    SymbolicConditional() {}

    SymbolicConditional(Key j) : BaseFactor(j), BaseConditional(1) {}

    SymbolicConditional(Key j, Key parent) : BaseFactor(j, parent), BaseConditional(1) {}

    SymbolicConditional(Key j, Key parent1, Key parent2) : BaseFactor(j, parent1, parent2), BaseConditional(1) {}

    SymbolicConditional(Key j, Key parent1, Key parent2, Key parent3) : BaseFactor(j, parent1, parent2, parent3), BaseConditional(1) {}

    template<typename ITERATOR>
    static SymbolicConditional FromIterators(ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals)
    {
      SymbolicConditional result;
      (BaseFactor&)result = BaseFactor::FromIterators(firstKey, lastKey);
      result.nrFrontals_ = nrFrontals;
      return result;
    }

    template<typename ITERATOR>
    static SymbolicConditional::shared_ptr FromIteratorsShared(ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals)
    {
      SymbolicConditional::shared_ptr result = std::make_shared<SymbolicConditional>();
      result->keys_.assign(firstKey, lastKey);
      result->nrFrontals_ = nrFrontals;
      return result;
    }

    template<class CONTAINER>
    static SymbolicConditional FromKeys(const CONTAINER& keys, size_t nrFrontals) {
      return FromIterators(keys.begin(), keys.end(), nrFrontals);
    }

    template<class CONTAINER>
    static SymbolicConditional::shared_ptr FromKeysShared(const CONTAINER& keys, size_t nrFrontals) {
      return FromIteratorsShared(keys.begin(), keys.end(), nrFrontals);
    }

    SymbolicFactor::shared_ptr clone() const { return std::make_shared<This>(*this); }


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

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


    double logProbability(const HybridValues& x) const override;

    double evaluate(const HybridValues& x) const override;

    using Conditional::operator(); // Expose evaluate(const HybridValues&) method..
    using SymbolicFactor::error; // Expose error(const HybridValues&) method..


  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(BaseFactor);
      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
    }
#endif
  };

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

} //\ namespace gtsam