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Merge branch 'common-discrete-evaluate' into common-ops

release/4.3a0
Varun Agrawal 2024-12-09 21:10:08 -05:00
parent aed2a9dc7f 8145086e5b
commit 246a1fa25b
18 changed files with 35 additions and 26 deletions
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2
gtsam/discrete/DecisionTreeFactor.cpp
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@ -195,7 +195,7 @@ namespace gtsam {
// Construct unordered_map with values
std::vector<std::pair<DiscreteValues, double>> result;
for (const auto& assignment : assignments) {
result.emplace_back(assignment, operator()(assignment));
result.emplace_back(assignment, evaluate(assignment));
}
return result;
}

5
gtsam/discrete/DecisionTreeFactor.h
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@ -137,10 +137,13 @@ namespace gtsam {
/// Calculate probability for given values,
/// is just look up in AlgebraicDecisionTree.
double operator()(const Assignment<Key>& values) const override {
virtual double evaluate(const Assignment<Key>& values) const override {
return ADT::operator()(values);
}
/// Disambiguate to use DiscreteFactor version. Mainly for wrapper
using DiscreteFactor::operator();
/// Calculate error for DiscreteValues `x`, is -log(probability).
double error(const DiscreteValues& values) const override;

4
gtsam/discrete/DiscreteConditional.h
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@ -169,12 +169,12 @@ class GTSAM_EXPORT DiscreteConditional
}
/// Evaluate, just look up in AlgebraicDecisionTree
double evaluate(const DiscreteValues& values) const {
virtual double evaluate(const Assignment<Key>& values) const override {
return ADT::operator()(values);
}
using DecisionTreeFactor::error; ///< DiscreteValues version
using DecisionTreeFactor::operator(); ///< DiscreteValues version
using DiscreteFactor::operator(); ///< DiscreteValues version
/**
* @brief restrict to given *parent* values.

8
gtsam/discrete/DiscreteFactor.h
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@ -106,12 +106,12 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
* @param values Discrete assignment.
* @return double
*/
double evaluate(const Assignment<Key>& values) const {
return operator()(values);
}
virtual double evaluate(const Assignment<Key>& values) const = 0;
/// Find value for given assignment of values to variables
virtual double operator()(const Assignment<Key>& values) const = 0;
double operator()(const DiscreteValues& values) const {
return evaluate(values);
}
/// Error is just -log(value)
virtual double error(const DiscreteValues& values) const;

2
gtsam/discrete/TableFactor.cpp
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@ -133,7 +133,7 @@ bool TableFactor::equals(const DiscreteFactor& other, double tol) const {
}
/* ************************************************************************ */
double TableFactor::operator()(const Assignment<Key>& values) const {
double TableFactor::evaluate(const Assignment<Key>& values) const {
// a b c d => D * (C * (B * (a) + b) + c) + d
uint64_t idx = 0, card = 1;
for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) {

2
gtsam/discrete/TableFactor.h
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@ -152,7 +152,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
// /// @{
/// Evaluate probability distribution, is just look up in TableFactor.
double operator()(const Assignment<Key>& values) const override;
double evaluate(const Assignment<Key>& values) const override;
/// Calculate error for DiscreteValues `x`, is -log(probability).
double error(const DiscreteValues& values) const override;

9
gtsam/discrete/discrete.i
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@ -41,7 +41,7 @@ virtual class DiscreteFactor : gtsam::Factor {
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const;
double operator()(const gtsam::Assignment<gtsam::Key>& values) const;
double operator()(const gtsam::DiscreteValues& values) const;
};
#include <gtsam/discrete/DecisionTreeFactor.h>
@ -61,15 +61,15 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
DecisionTreeFactor(const std::vector<gtsam::DiscreteKey>& keys, string table);
DecisionTreeFactor(const gtsam::DiscreteConditional& c);
void print(string s = "DecisionTreeFactor\n",
const gtsam::KeyFormatter& keyFormatter =
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::Assignment<gtsam::Key>& values) const;
double operator()(const gtsam::DiscreteValues& values) const;
gtsam::DecisionTreeFactor operator*(const gtsam::DecisionTreeFactor& f) const;
size_t cardinality(gtsam::Key j) const;
gtsam::DecisionTreeFactor operator/(const gtsam::DecisionTreeFactor& f) const;
@ -248,6 +248,7 @@ class DiscreteBayesTree {
void saveGraph(string s,
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
double operator()(const gtsam::DiscreteValues& values) const;
string markdown(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;

2
gtsam_unstable/discrete/AllDiff.cpp
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@ -26,7 +26,7 @@ void AllDiff::print(const std::string& s, const KeyFormatter& formatter) const {
}
/* ************************************************************************* */
double AllDiff::operator()(const Assignment<Key>& values) const {
double AllDiff::evaluate(const Assignment<Key>& values) const {
std::set<size_t> taken; // record values taken by keys
for (Key dkey : keys_) {
size_t value = values.at(dkey); // get the value for that key

2
gtsam_unstable/discrete/AllDiff.h
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@ -45,7 +45,7 @@ class GTSAM_UNSTABLE_EXPORT AllDiff : public Constraint {
}
/// Calculate value = expensive !
double operator()(const Assignment<Key>& values) const override;
double evaluate(const Assignment<Key>& values) const override;
/// Convert into a decisiontree, can be *very* expensive !
DecisionTreeFactor toDecisionTreeFactor() const override;

2
gtsam_unstable/discrete/BinaryAllDiff.h
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@ -47,7 +47,7 @@ class BinaryAllDiff : public Constraint {
}
/// Calculate value
double operator()(const Assignment<Key>& values) const override {
double evaluate(const Assignment<Key>& values) const override {
return (double)(values.at(keys_[0]) != values.at(keys_[1]));
}

2
gtsam_unstable/discrete/Domain.cpp
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@ -30,7 +30,7 @@ string Domain::base1Str() const {
}
/* ************************************************************************* */
double Domain::operator()(const Assignment<Key>& values) const {
double Domain::evaluate(const Assignment<Key>& values) const {
return contains(values.at(key()));
}

2
gtsam_unstable/discrete/Domain.h
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@ -82,7 +82,7 @@ class GTSAM_UNSTABLE_EXPORT Domain : public Constraint {
bool contains(size_t value) const { return values_.count(value) > 0; }
/// Calculate value
double operator()(const Assignment<Key>& values) const override;
double evaluate(const Assignment<Key>& values) const override;
/// Convert into a decisiontree
DecisionTreeFactor toDecisionTreeFactor() const override;

2
gtsam_unstable/discrete/SingleValue.cpp
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@ -22,7 +22,7 @@ void SingleValue::print(const string& s, const KeyFormatter& formatter) const {
}
/* ************************************************************************* */
double SingleValue::operator()(const Assignment<Key>& values) const {
double SingleValue::evaluate(const Assignment<Key>& values) const {
return (double)(values.at(keys_[0]) == value_);
}

2
gtsam_unstable/discrete/SingleValue.h
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@ -55,7 +55,7 @@ class GTSAM_UNSTABLE_EXPORT SingleValue : public Constraint {
}
/// Calculate value
double operator()(const Assignment<Key>& values) const override;
double evaluate(const Assignment<Key>& values) const override;
/// Convert into a decisiontree
DecisionTreeFactor toDecisionTreeFactor() const override;

3
python/gtsam/tests/test_DecisionTreeFactor.py
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@ -13,9 +13,10 @@ Author: Frank Dellaert
import unittest
from gtsam.utils.test_case import GtsamTestCase
from gtsam import (DecisionTreeFactor, DiscreteDistribution, DiscreteValues,
Ordering)
from gtsam.utils.test_case import GtsamTestCase
class TestDecisionTreeFactor(GtsamTestCase):

4
python/gtsam/tests/test_DiscreteBayesTree.py
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@ -19,8 +19,8 @@ from gtsam.utils.test_case import GtsamTestCase
import gtsam
from gtsam import (DiscreteBayesNet, DiscreteBayesTreeClique,
DiscreteConditional, DiscreteFactorGraph,
DiscreteValues, Ordering)
DiscreteConditional, DiscreteFactorGraph, DiscreteValues,
Ordering)
class TestDiscreteBayesNet(GtsamTestCase):

3
python/gtsam/tests/test_DiscreteConditional.py
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@ -13,9 +13,10 @@ Author: Varun Agrawal
import unittest
from gtsam import DecisionTreeFactor, DiscreteConditional, DiscreteKeys
from gtsam.utils.test_case import GtsamTestCase
from gtsam import DecisionTreeFactor, DiscreteConditional, DiscreteKeys
# Some DiscreteKeys for binary variables:
A = 0, 2
B = 1, 2

5
python/gtsam/tests/test_DiscreteFactorGraph.py
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@ -14,9 +14,12 @@ Author: Frank Dellaert
import unittest
import numpy as np
from gtsam import DecisionTreeFactor, DiscreteConditional, DiscreteFactorGraph, DiscreteKeys, DiscreteValues, Ordering, Symbol
from gtsam.utils.test_case import GtsamTestCase
from gtsam import (DecisionTreeFactor, DiscreteConditional,
DiscreteFactorGraph, DiscreteKeys, DiscreteValues, Ordering,
Symbol)
OrderingType = Ordering.OrderingType