Wrapped elimination and junction trees

(cherry picked from commit 93d9ab6a2e)

gtsam/discrete/DiscreteJunctionTree.h

@@ -66,4 +66,6 @@ namespace gtsam {
     DiscreteJunctionTree(const DiscreteEliminationTree& eliminationTree);
   };
 
+  /// typedef for wrapper:
+  using DiscreteCluster = DiscreteJunctionTree::Cluster;
 }

gtsam/discrete/discrete.i

@@ -62,6 +62,8 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
 
+  size_t cardinality(gtsam::Key j) const;
+  
   double operator()(const gtsam::DiscreteValues& values) const;
   gtsam::DecisionTreeFactor operator*(const gtsam::DecisionTreeFactor& f) const;
   size_t cardinality(gtsam::Key j) const;
@@ -247,9 +249,9 @@ class DiscreteBayesTree {
 class DiscreteLookupTable : gtsam::DiscreteConditional{
   DiscreteLookupTable(size_t nFrontals, const gtsam::DiscreteKeys& keys,
                       const gtsam::DecisionTreeFactor::ADT& potentials);
-  void print(
+  void print(string s = "Discrete Lookup Table: ",
-    const std::string& s = "Discrete Lookup Table: ",
+             const gtsam::KeyFormatter& keyFormatter =
-    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
+                 gtsam::DefaultKeyFormatter) const;
   size_t argmax(const gtsam::DiscreteValues& parentsValues) const;
 };
 
@@ -333,4 +335,41 @@ class DiscreteFactorGraph {
               std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
+#include <gtsam/discrete/DiscreteEliminationTree.h>
+
+class DiscreteEliminationTree {
+  DiscreteEliminationTree(const gtsam::DiscreteFactorGraph& factorGraph,
+                          const gtsam::VariableIndex& structure,
+                          const gtsam::Ordering& order);
+
+  DiscreteEliminationTree(const gtsam::DiscreteFactorGraph& factorGraph,
+                          const gtsam::Ordering& order);
+
+  void print(
+      string name = "EliminationTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::DiscreteEliminationTree& other,
+              double tol = 1e-9) const;
+};
+
+#include <gtsam/discrete/DiscreteJunctionTree.h>
+
+class DiscreteCluster {
+  gtsam::Ordering orderedFrontalKeys;
+  gtsam::DiscreteFactorGraph factors;
+  const gtsam::DiscreteCluster& operator[](size_t i) const;
+  size_t nrChildren() const;
+  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
+                                gtsam::DefaultKeyFormatter) const;
+};
+
+class DiscreteJunctionTree {
+  DiscreteJunctionTree(const gtsam::DiscreteEliminationTree& eliminationTree);
+  void print(
+      string name = "JunctionTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  size_t nrRoots() const;
+  const gtsam::DiscreteCluster& operator[](size_t i) const;
+};
+
 }  // namespace gtsam

gtsam/inference/ClusterTree.h

@@ -49,7 +49,7 @@ class ClusterTree {
     virtual ~Cluster() {}
 
     const Cluster& operator[](size_t i) const {
-      return *(children[i]);
+      return *(children.at(i));
     }
 
     /// Construct from factors associated with a single key
@@ -161,7 +161,7 @@ class ClusterTree {
   }
 
   const Cluster& operator[](size_t i) const {
-    return *(roots_[i]);
+    return *(roots_.at(i));
   }
 
   /// @}

gtsam/inference/inference.i

@@ -148,7 +148,7 @@ class Ordering {
 
   // Standard interface
   size_t size() const;
-  size_t at(size_t key) const;
+  size_t at(size_t i) const;
   void push_back(size_t key);
 
   // enabling serialization functionality

gtsam/symbolic/SymbolicJunctionTree.h

@@ -65,4 +65,6 @@ namespace gtsam {
     SymbolicJunctionTree(const SymbolicEliminationTree& eliminationTree);
   };
 
+  /// typedef for wrapper:
+  using SymbolicCluster = SymbolicJunctionTree::Cluster;
 }

gtsam/symbolic/symbolic.i

@@ -137,6 +137,43 @@ class SymbolicBayesNet {
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
+#include <gtsam/symbolic/SymbolicEliminationTree.h>
+
+class SymbolicEliminationTree {
+  SymbolicEliminationTree(const gtsam::SymbolicFactorGraph& factorGraph,
+                          const gtsam::VariableIndex& structure,
+                          const gtsam::Ordering& order);
+
+  SymbolicEliminationTree(const gtsam::SymbolicFactorGraph& factorGraph,
+                          const gtsam::Ordering& order);
+
+  void print(
+      string name = "EliminationTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::SymbolicEliminationTree& other,
+              double tol = 1e-9) const;
+};
+
+#include <gtsam/symbolic/SymbolicJunctionTree.h>
+
+class SymbolicCluster {
+  gtsam::Ordering orderedFrontalKeys;
+  gtsam::SymbolicFactorGraph factors;
+  const gtsam::SymbolicCluster& operator[](size_t i) const;
+  size_t nrChildren() const;
+  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
+                                gtsam::DefaultKeyFormatter) const;
+};
+
+class SymbolicJunctionTree {
+  SymbolicJunctionTree(const gtsam::SymbolicEliminationTree& eliminationTree);
+  void print(
+      string name = "JunctionTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  size_t nrRoots() const;
+  const gtsam::SymbolicCluster& operator[](size_t i) const;
+};
+
 #include <gtsam/symbolic/SymbolicBayesTree.h>
 
 class SymbolicBayesTreeClique {