markdown for DiscreteFactorGraph

gtsam/discrete/DecisionTreeFactor.h

@@ -168,7 +168,7 @@ namespace gtsam {
     
     /// Render as markdown table.
     std::string _repr_markdown_(
-        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
     /// @}
 

gtsam/discrete/DiscreteConditional.h

@@ -172,7 +172,7 @@ public:
 
   /// Render as markdown table.
   std::string _repr_markdown_(
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
   /// @}
 };

gtsam/discrete/DiscreteFactor.h

@@ -88,6 +88,14 @@ public:
 
   virtual DecisionTreeFactor toDecisionTreeFactor() const = 0;
 
+  /// @}
+  /// @name Wrapper support
+  /// @{
+  
+  /// Render as markdown table.
+  virtual std::string _repr_markdown_(
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
+
   /// @}
 };
 // DiscreteFactor

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -129,6 +129,18 @@ namespace gtsam {
     return std::make_pair(cond, sum);
   }
 
-/* ************************************************************************* */
+  /* ************************************************************************* */
-} // namespace
+  std::string DiscreteFactorGraph::_repr_markdown_(
+      const KeyFormatter& keyFormatter) const {
+    using std::endl;
+    std::stringstream ss;
+    ss << "`DiscreteFactorGraph` of size " << size() << endl << endl;
+    for (size_t i = 0; i < factors_.size(); i++) {
+      ss << "factor " << i << ":\n";
+      ss << factors_[i]->_repr_markdown_(keyFormatter) << endl;
+    }
+    return ss.str();
+  }
 
+  /* ************************************************************************* */
+  }  // namespace gtsam

gtsam/discrete/DiscreteFactorGraph.h

@@ -154,6 +154,14 @@ public:
 //  /** Apply a reduction, which is a remapping of variable indices. */
 //  GTSAM_EXPORT void reduceWithInverse(const internal::Reduction& inverseReduction);
 
+  /// @name Wrapper support
+  /// @{
+
+  /// Render as markdown table.
+  std::string _repr_markdown_(
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+
+  /// @}
 }; // \ DiscreteFactorGraph
 
 /// traits

gtsam/discrete/discrete.i

@@ -166,6 +166,9 @@ class DiscreteFactorGraph {
   gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering);
   gtsam::DiscreteBayesTree eliminateMultifrontal();
   gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering);
+
+  string _repr_markdown_(const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
 };
 
 }  // namespace gtsam

gtsam/discrete/tests/testDiscreteFactorGraph.cpp

@@ -361,11 +361,9 @@ cout << unicorns;
 
 /* ************************************************************************* */
 TEST(DiscreteFactorGraph, Dot) {
-  // Declare a bunch of keys
-  DiscreteKey C(0, 2), A(1, 2), B(2, 2);
-
   // Create Factor graph
   DiscreteFactorGraph graph;
+  DiscreteKey C(0, 2), A(1, 2), B(2, 2);
   graph.add(C & A, "0.2 0.8 0.3 0.7");
   graph.add(C & B, "0.1 0.9 0.4 0.6");
 
@@ -384,6 +382,44 @@ TEST(DiscreteFactorGraph, Dot) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+// Check markdown representation looks as expected.
+TEST(DiscreteFactorGraph, markdown) {
+  // Create Factor graph
+  DiscreteFactorGraph graph;
+  DiscreteKey C(0, 2), A(1, 2), B(2, 2);
+  graph.add(C & A, "0.2 0.8 0.3 0.7");
+  graph.add(C & B, "0.1 0.9 0.4 0.6");
+
+  string expected =
+      "`DiscreteFactorGraph` of size 2\n"
+      "\n"
+      "factor 0:\n"
+      "|C|A|value|\n"
+      "|:-:|:-:|:-:|\n"
+      "|0|0|0.2|\n"
+      "|0|1|0.8|\n"
+      "|1|0|0.3|\n"
+      "|1|1|0.7|\n"
+      "\n"
+      "factor 1:\n"
+      "|C|B|value|\n"
+      "|:-:|:-:|:-:|\n"
+      "|0|0|0.1|\n"
+      "|0|1|0.9|\n"
+      "|1|0|0.4|\n"
+      "|1|1|0.6|\n\n";
+  vector<string> names{"C", "A", "B"};
+  auto formatter = [names](Key key) { return names[key]; };
+  string actual = graph._repr_markdown_(formatter);
+  EXPECT(actual == expected);
+
+  // Make sure values are correctly displayed.
+  DiscreteValues values;
+  values[0] = 1;
+  values[1] = 0;
+  EXPECT_DOUBLES_EQUAL(0.3, graph[0]->operator()(values), 1e-9);
+}
 /* ************************************************************************* */
 int main() {
 TestResult tr;

gtsam_unstable/discrete/Constraint.h

@@ -22,6 +22,7 @@
 #include <gtsam_unstable/dllexport.h>
 
 #include <boost/assign.hpp>
+#include <boost/format.hpp>
 #include <map>
 
 namespace gtsam {
@@ -81,6 +82,16 @@ class GTSAM_EXPORT Constraint : public DiscreteFactor {
   /// Partially apply known values, domain version
   virtual shared_ptr partiallyApply(const Domains&) const = 0;
   /// @}
+  /// @name Wrapper support
+  /// @{
+
+  /// Render as markdown table.
+  std::string _repr_markdown_(
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
+    return (boost::format("`Constraint` on %1% variables\n") % (size())).str();
+  }
+
+  /// @}
 };
 // DiscreteFactor