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# Conflicts:
#	gtsam/hybrid/DCGaussianMixtureFactor.h
#	gtsam/hybrid/DCMixtureFactor.h
release/4.3a0
Varun Agrawal 2021-12-30 15:28:07 -05:00 committed by Frank Dellaert
parent b24da8399a
commit 26c48a8c1f
3 changed files with 25 additions and 34 deletions
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15
gtsam/discrete/AlgebraicDecisionTree.h
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@ -30,13 +30,6 @@ namespace gtsam {
template<typename L> template<typename L>
class AlgebraicDecisionTree: public DecisionTree<L, double> { class AlgebraicDecisionTree: public DecisionTree<L, double> {
/**
* @brief Default method for comparison of two doubles upto some tolerance.
*/
static bool DefaultComparator(double a, double b, double tol) {
return std::abs(a - b) < tol;
}
public: public:
typedef DecisionTree<L, double> Super; typedef DecisionTree<L, double> Super;
@ -146,9 +139,11 @@ namespace gtsam {
} }
/// Equality method customized to node type `double`. /// Equality method customized to node type `double`.
bool equals(const AlgebraicDecisionTree& other, double tol = 1e-9, bool equals(const AlgebraicDecisionTree& other, double tol = 1e-9) const {
const std::function<bool(double, double, double)>& comparator = // lambda for comparison of two doubles upto some tolerance.
&DefaultComparator) const { auto comparator = [](double a, double b, double tol) {
return std::abs(a - b) < tol;
};
return this->root_->equals(*other.root_, tol, comparator); return this->root_->equals(*other.root_, tol, comparator);
} }
}; };

21
gtsam/discrete/DecisionTree-inl.h
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@ -19,7 +19,6 @@
#pragma once #pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/discrete/DecisionTree.h> #include <gtsam/discrete/DecisionTree.h>
#include <boost/assign/std/vector.hpp> #include <boost/assign/std/vector.hpp>
@ -78,8 +77,7 @@ namespace gtsam {
/** equality up to tolerance */ /** equality up to tolerance */
bool equals(const Node& q, double tol, bool equals(const Node& q, double tol,
const std::function<bool(const Y&, const Y&, double)>& const ComparatorFunc& comparator) const override {
comparator) const override {
const Leaf* other = dynamic_cast<const Leaf*>(&q); const Leaf* other = dynamic_cast<const Leaf*>(&q);
if (!other) return false; if (!other) return false;
return comparator(this->constant_, other->constant_, tol); return comparator(this->constant_, other->constant_, tol);
@ -87,7 +85,7 @@ namespace gtsam {
/** print */ /** print */
void print(const std::string& s, void print(const std::string& s,
const std::function<std::string(L)>& formatter) const override { const FormatterFunc& formatter) const override {
bool showZero = true; bool showZero = true;
if (showZero || constant_) std::cout << s << " Leaf " << constant_ << std::endl; if (showZero || constant_) std::cout << s << " Leaf " << constant_ << std::endl;
} }
@ -241,7 +239,7 @@ namespace gtsam {
/** print (as a tree) */ /** print (as a tree) */
void print(const std::string& s, void print(const std::string& s,
const std::function<std::string(L)>& formatter) const override { const FormatterFunc& formatter) const override {
std::cout << s << " Choice("; std::cout << s << " Choice(";
std::cout << formatter(label_) << ") " << std::endl; std::cout << formatter(label_) << ") " << std::endl;
for (size_t i = 0; i < branches_.size(); i++) for (size_t i = 0; i < branches_.size(); i++)
@ -284,8 +282,7 @@ namespace gtsam {
/** equality up to tolerance */ /** equality up to tolerance */
bool equals(const Node& q, double tol, bool equals(const Node& q, double tol,
const std::function<bool(const Y&, const Y&, double)>& const ComparatorFunc& comparator) const override {
comparator) const override {
const Choice* other = dynamic_cast<const Choice*>(&q); const Choice* other = dynamic_cast<const Choice*>(&q);
if (!other) return false; if (!other) return false;
if (this->label_ != other->label_) return false; if (this->label_ != other->label_) return false;
@ -651,16 +648,14 @@ namespace gtsam {
/*********************************************************************************/ /*********************************************************************************/
template <typename L, typename Y> template <typename L, typename Y>
bool DecisionTree<L, Y>::equals( bool DecisionTree<L, Y>::equals(const DecisionTree& other, double tol,
const DecisionTree& other, double tol, const ComparatorFunc& comparator) const {
const std::function<bool(const Y&, const Y&, double)>& comparator) const {
return root_->equals(*other.root_, tol, comparator); return root_->equals(*other.root_, tol, comparator);
} }
template <typename L, typename Y> template <typename L, typename Y>
void DecisionTree<L, Y>::print( void DecisionTree<L, Y>::print(const std::string& s,
const std::string& s, const FormatterFunc& formatter) const {
const std::function<std::string(L)>& formatter) const {
root_->print(s, formatter); root_->print(s, formatter);
} }

21
gtsam/discrete/DecisionTree.h
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@ -53,6 +53,9 @@ namespace gtsam {
public: public:
using FormatterFunc = std::function<std::string(L)>;
using ComparatorFunc = std::function<bool(const Y&, const Y&, double)>;
/** Handy typedefs for unary and binary function types */ /** Handy typedefs for unary and binary function types */
typedef std::function<Y(const Y&)> Unary; typedef std::function<Y(const Y&)> Unary;
typedef std::function<Y(const Y&, const Y&)> Binary; typedef std::function<Y(const Y&, const Y&)> Binary;
@ -91,15 +94,15 @@ namespace gtsam {
const void* id() const { return this; } const void* id() const { return this; }
// everything else is virtual, no documentation here as internal // everything else is virtual, no documentation here as internal
virtual void print(const std::string& s = "", virtual void print(
const std::function<std::string(L)>& formatter = const std::string& s = "",
&DefaultFormatter) const = 0; const FormatterFunc& formatter = &DefaultFormatter) const = 0;
virtual void dot(std::ostream& os, bool showZero) const = 0; virtual void dot(std::ostream& os, bool showZero) const = 0;
virtual bool sameLeaf(const Leaf& q) const = 0; virtual bool sameLeaf(const Leaf& q) const = 0;
virtual bool sameLeaf(const Node& q) const = 0; virtual bool sameLeaf(const Node& q) const = 0;
virtual bool equals(const Node& other, double tol = 1e-9, virtual bool equals(
const std::function<bool(const Y&, const Y&, double)>& const Node& other, double tol = 1e-9,
comparator = &DefaultComparator) const = 0; const ComparatorFunc& comparator = &DefaultComparator) const = 0;
virtual const Y& operator()(const Assignment<L>& x) const = 0; virtual const Y& operator()(const Assignment<L>& x) const = 0;
virtual Ptr apply(const Unary& op) const = 0; virtual Ptr apply(const Unary& op) const = 0;
virtual Ptr apply_f_op_g(const Node&, const Binary&) const = 0; virtual Ptr apply_f_op_g(const Node&, const Binary&) const = 0;
@ -181,13 +184,11 @@ namespace gtsam {
/** GTSAM-style print */ /** GTSAM-style print */
void print(const std::string& s = "DecisionTree", void print(const std::string& s = "DecisionTree",
const std::function<std::string(L)>& formatter = const FormatterFunc& formatter = &DefaultFormatter) const;
&DefaultFormatter) const;
// Testable // Testable
bool equals(const DecisionTree& other, double tol = 1e-9, bool equals(const DecisionTree& other, double tol = 1e-9,
const std::function<bool(const Y&, const Y&, double)>& const ComparatorFunc& comparator = &DefaultComparator) const;
comparator = &DefaultComparator) const;
/// @} /// @}
/// @name Standard Interface /// @name Standard Interface