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updates to fix various issues

release/4.3a0
Frank Dellaert 2022-01-21 17:39:06 -05:00
parent 125708fbb7
commit 03314ed781
4 changed files with 12 additions and 36 deletions
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6
gtsam/discrete/DiscreteConditional.cpp
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@ -322,8 +322,7 @@ size_t DiscreteConditional::sample(const DiscreteValues& parentsValues) const {
return distribution(rng); return distribution(rng);
} }
/* ******************************************************************************** /* ************************************************************************** */
*/
size_t DiscreteConditional::sample(size_t parent_value) const { size_t DiscreteConditional::sample(size_t parent_value) const {
if (nrParents() != 1) if (nrParents() != 1)
throw std::invalid_argument( throw std::invalid_argument(
@ -334,8 +333,7 @@ size_t DiscreteConditional::sample(size_t parent_value) const {
return sample(values); return sample(values);
} }
/* ******************************************************************************** /* ************************************************************************** */
*/
size_t DiscreteConditional::sample() const { size_t DiscreteConditional::sample() const {
if (nrParents() != 0) if (nrParents() != 0)
throw std::invalid_argument( throw std::invalid_argument(

8
gtsam/discrete/DiscreteFactorGraph.h
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@ -163,14 +163,6 @@ class GTSAM_EXPORT DiscreteFactorGraph
*/ */
DiscreteValues optimize(const Ordering& ordering) const; DiscreteValues optimize(const Ordering& ordering) const;
// /** Permute the variables in the factors */
// GTSAM_EXPORT void permuteWithInverse(const Permutation&
// inversePermutation);
//
// /** Apply a reduction, which is a remapping of variable indices. */
// GTSAM_EXPORT void reduceWithInverse(const internal::Reduction&
// inverseReduction);
/// @name Wrapper support /// @name Wrapper support
/// @{ /// @{

8
gtsam/discrete/DiscreteLookupDAG.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file DiscreteLookupTable.cpp * @file DiscreteLookupDAG.cpp
* @date Feb 14, 2011 * @date Feb 14, 2011
* @author Duy-Nguyen Ta * @author Duy-Nguyen Ta
* @author Frank Dellaert * @author Frank Dellaert
@ -116,12 +116,6 @@ DiscreteLookupDAG DiscreteLookupDAG::FromBayesNet(
return dag; return dag;
} }
/* ************************************************************************** */
DiscreteValues DiscreteLookupDAG::argmax() const {
DiscreteValues result;
return argmax(result);
}
DiscreteValues DiscreteLookupDAG::argmax(DiscreteValues result) const { DiscreteValues DiscreteLookupDAG::argmax(DiscreteValues result) const {
// Argmax each node in turn in topological sort order (parents first). // Argmax each node in turn in topological sort order (parents first).
for (auto lookupTable : boost::adaptors::reverse(*this)) for (auto lookupTable : boost::adaptors::reverse(*this))

26
gtsam/discrete/DiscreteLookupDAG.h
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@ -11,7 +11,7 @@
/** /**
* @file DiscreteLookupDAG.h * @file DiscreteLookupDAG.h
* @date JAnuary, 2022 * @date January, 2022
* @author Frank dellaert * @author Frank dellaert
*/ */
@ -34,7 +34,7 @@ class DiscreteBayesNet;
* @brief DiscreteLookupTable table for max-product * @brief DiscreteLookupTable table for max-product
* *
* Inherits from discrete conditional for convenience, but is not normalized. * Inherits from discrete conditional for convenience, but is not normalized.
* Is used in pax-product algorithm. * Is used in the max-product algorithm.
*/ */
class DiscreteLookupTable : public DiscreteConditional { class DiscreteLookupTable : public DiscreteConditional {
public: public:
@ -85,7 +85,7 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
/// Construct empty DAG. /// Construct empty DAG.
DiscreteLookupDAG() {} DiscreteLookupDAG() {}
// Create from BayesNet with LookupTables /// Create from BayesNet with LookupTables
static DiscreteLookupDAG FromBayesNet(const DiscreteBayesNet& bayesNet); static DiscreteLookupDAG FromBayesNet(const DiscreteBayesNet& bayesNet);
/// Destructor /// Destructor
@ -111,25 +111,17 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
} }
/** /**
* @brief argmax by back-substitution. * @brief argmax by back-substitution, optionally given certain variables.
* *
* Assumes the DAG is reverse topologically sorted, i.e. last * Assumes the DAG is reverse topologically sorted, i.e. last
* conditional will be optimized first. If the DAG resulted from * conditional will be optimized first *and* that the
* eliminating a factor graph, this is true for the elimination ordering. * DAG does not contain any conditionals for the given variables. If the DAG
* * resulted from eliminating a factor graph, this is true for the elimination
* @return optimal assignment for all variables. * ordering.
*/
DiscreteValues argmax() const;
/**
* @brief argmax by back-substitution, given certain variables.
*
* Assumes the DAG is reverse topologically sorted *and* that the
* DAG does not contain any conditionals for the given variables.
* *
* @return given assignment extended w. optimal assignment for all variables. * @return given assignment extended w. optimal assignment for all variables.
*/ */
DiscreteValues argmax(DiscreteValues given) const; DiscreteValues argmax(DiscreteValues given = DiscreteValues()) const;
/// @} /// @}
private: private: