Frank says: NEVER use "using namespace xxx" in a header file. Got rid of lambda.h header where not needed.
Frank Dellaert
parent
2ebd7a8974
commit
2885757acc
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@ -19,57 +19,61 @@
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#include <gtsam/base/Testable.h>
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#include <iostream>
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#include <fstream>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include <boost/format.hpp>
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#include <boost/lambda/bind.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/assign/std/vector.hpp> // for +=
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using namespace boost::assign;
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using namespace std;
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#include <iostream>
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#include <fstream>
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namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::print(const string& s) const {
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cout << s;
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BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_)
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conditional->print();
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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bool BayesNet<CONDITIONAL>::equals(const BayesNet& cbn, double tol) const {
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if(size() != cbn.size()) return false;
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return equal(conditionals_.begin(),conditionals_.end(),cbn.conditionals_.begin(),equals_star<CONDITIONAL>(tol));
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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typename BayesNet<CONDITIONAL>::const_iterator BayesNet<CONDITIONAL>::find(Index key) const {
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for(const_iterator it = begin(); it != end(); ++it)
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if(std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) != (*it)->endFrontals())
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return it;
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return end();
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}
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::print(const std::string& s) const {
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std::cout << s;
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BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_)
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conditional->print();
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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typename BayesNet<CONDITIONAL>::iterator BayesNet<CONDITIONAL>::find(Index key) {
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for(iterator it = begin(); it != end(); ++it)
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if(std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) != (*it)->endFrontals())
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bool BayesNet<CONDITIONAL>::equals(const BayesNet& cbn, double tol) const {
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if (size() != cbn.size())
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return false;
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return equal(conditionals_.begin(), conditionals_.end(),
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cbn.conditionals_.begin(), equals_star<CONDITIONAL>(tol));
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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typename BayesNet<CONDITIONAL>::const_iterator BayesNet<CONDITIONAL>::find(
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Index key) const {
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for (const_iterator it = begin(); it != end(); ++it)
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if (std::find((*it)->beginFrontals(), (*it)->endFrontals(), key)
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!= (*it)->endFrontals())
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return it;
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return end();
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::permuteWithInverse(const Permutation& inversePermutation) {
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typename BayesNet<CONDITIONAL>::iterator BayesNet<CONDITIONAL>::find(
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Index key) {
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for (iterator it = begin(); it != end(); ++it)
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if (std::find((*it)->beginFrontals(), (*it)->endFrontals(), key)
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!= (*it)->endFrontals())
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return it;
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return end();
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::permuteWithInverse(
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const Permutation& inversePermutation) {
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BOOST_FOREACH(sharedConditional conditional, conditionals_) {
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conditional->permuteWithInverse(inversePermutation);
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}
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@ -77,52 +81,54 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL>
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bool BayesNet<CONDITIONAL>::permuteSeparatorWithInverse(const Permutation& inversePermutation) {
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bool BayesNet<CONDITIONAL>::permuteSeparatorWithInverse(
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const Permutation& inversePermutation) {
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bool separatorChanged = false;
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BOOST_FOREACH(sharedConditional conditional, conditionals_) {
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if(conditional->permuteSeparatorWithInverse(inversePermutation))
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if (conditional->permuteSeparatorWithInverse(inversePermutation))
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separatorChanged = true;
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}
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return separatorChanged;
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::push_back(const BayesNet<CONDITIONAL> bn) {
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BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
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push_back(conditional);
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::push_front(const BayesNet<CONDITIONAL> bn) {
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BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
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push_front(conditional);
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::push_back(const BayesNet<CONDITIONAL> bn) {
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BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
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push_back(conditional);
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::popLeaf(iterator conditional) {
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void BayesNet<CONDITIONAL>::push_front(const BayesNet<CONDITIONAL> bn) {
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BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
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push_front(conditional);
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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void BayesNet<CONDITIONAL>::popLeaf(iterator conditional) {
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#ifndef NDEBUG
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BOOST_FOREACH(typename CONDITIONAL::shared_ptr checkConditional, conditionals_) {
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BOOST_FOREACH(Index key, (*conditional)->frontals()) {
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if(std::find(checkConditional->beginParents(), checkConditional->endParents(), key) != checkConditional->endParents())
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throw std::invalid_argument(
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"Debug mode exception: in BayesNet::popLeaf, the requested conditional is not a leaf.");
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throw std::invalid_argument(
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"Debug mode exception: in BayesNet::popLeaf, the requested conditional is not a leaf.");
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}
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}
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#endif
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conditionals_.erase(conditional);
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}
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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FastList<Index> BayesNet<CONDITIONAL>::ordering() const {
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FastList<Index> ord;
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BOOST_FOREACH(sharedConditional conditional,conditionals_)
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ord.insert(ord.begin(), conditional->beginFrontals(), conditional->endFrontals());
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return ord;
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}
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/* ************************************************************************* */
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template<class CONDITIONAL>
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FastList<Index> BayesNet<CONDITIONAL>::ordering() const {
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FastList<Index> ord;
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BOOST_FOREACH(sharedConditional conditional,conditionals_)
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ord.insert(ord.begin(), conditional->beginFrontals(),
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conditional->endFrontals());
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return ord;
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}
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// /* ************************************************************************* */
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// template<class CONDITIONAL>
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@ -139,21 +145,22 @@ namespace gtsam {
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// of.close();
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// }
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//
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/* ************************************************************************* */
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/* ************************************************************************* */
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template<class CONDITIONAL>
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typename BayesNet<CONDITIONAL>::sharedConditional
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BayesNet<CONDITIONAL>::operator[](Index key) const {
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BOOST_FOREACH(typename CONDITIONAL::shared_ptr conditional, conditionals_) {
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typename CONDITIONAL::const_iterator it = std::find(conditional->beginFrontals(), conditional->endFrontals(), key);
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if (it!=conditional->endFrontals()) {
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template<class CONDITIONAL>
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typename BayesNet<CONDITIONAL>::sharedConditional BayesNet<CONDITIONAL>::operator[](
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Index key) const {
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BOOST_FOREACH(typename CONDITIONAL::shared_ptr conditional, conditionals_) {
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typename CONDITIONAL::const_iterator it = std::find(
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conditional->beginFrontals(), conditional->endFrontals(), key);
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if (it != conditional->endFrontals()) {
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return conditional;
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}
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}
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throw(invalid_argument((boost::format(
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"BayesNet::operator['%1%']: not found") % key).str()));
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}
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}
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throw(std::invalid_argument(
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(boost::format("BayesNet::operator['%1%']: not found") % key).str()));
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}
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/* ************************************************************************* */
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/* ************************************************************************* */
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} // namespace gtsam
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@ -26,22 +26,16 @@
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#include <gtsam/inference/inference.h>
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#include <gtsam/inference/GenericSequentialSolver.h>
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#include <iostream>
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#include <algorithm>
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#include <boost/foreach.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <boost/format.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/iterator/transform_iterator.hpp>
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#include <fstream>
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using namespace boost::assign;
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namespace lam = boost::lambda;
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#include <iostream>
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#include <algorithm>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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template<class CONDITIONAL, class CLIQUE>
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typename BayesTree<CONDITIONAL,CLIQUE>::CliqueData
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@ -64,8 +58,8 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL, class CLIQUE>
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void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(const std::string &s) const {
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if (!root_.get()) throw invalid_argument("the root of Bayes tree has not been initialized!");
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ofstream of(s.c_str());
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if (!root_.get()) throw std::invalid_argument("the root of Bayes tree has not been initialized!");
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std::ofstream of(s.c_str());
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of<< "digraph G{\n";
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saveGraph(of, root_);
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of<<"}";
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@ -73,12 +67,12 @@ namespace gtsam {
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}
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template<class CONDITIONAL, class CLIQUE>
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void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(ostream &s, sharedClique clique, int parentnum) const {
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void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(std::ostream &s, sharedClique clique, int parentnum) const {
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static int num = 0;
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bool first = true;
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std::stringstream out;
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out << num;
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string parent = out.str();
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std::string parent = out.str();
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parent += "[label=\"";
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BOOST_FOREACH(Index index, clique->conditional_->frontals()) {
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@ -136,7 +130,7 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL, class CLIQUE>
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void BayesTree<CONDITIONAL,CLIQUE>::Cliques::print(const std::string& s) const {
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cout << s << ":\n";
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std::cout << s << ":\n";
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BOOST_FOREACH(sharedClique clique, *this)
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clique->printTree();
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}
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@ -175,7 +169,7 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL, class CLIQUE>
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typename BayesTree<CONDITIONAL,CLIQUE>::sharedClique BayesTree<CONDITIONAL,CLIQUE>::addClique(
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const sharedConditional& conditional, list<sharedClique>& child_cliques) {
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const sharedConditional& conditional, std::list<sharedClique>& child_cliques) {
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sharedClique new_clique(new Clique(conditional));
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nodes_.resize(std::max(conditional->lastFrontalKey()+1, nodes_.size()));
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BOOST_FOREACH(Index key, conditional->frontals())
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@ -290,10 +284,10 @@ namespace gtsam {
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template<class CONDITIONAL, class CLIQUE>
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BayesTree<CONDITIONAL,CLIQUE>::BayesTree(const BayesNet<CONDITIONAL>& bayesNet, std::list<BayesTree<CONDITIONAL,CLIQUE> > subtrees) {
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if (bayesNet.size() == 0)
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throw invalid_argument("BayesTree::insert: empty bayes net!");
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throw std::invalid_argument("BayesTree::insert: empty bayes net!");
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// get the roots of child subtrees and merge their nodes_
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list<sharedClique> childRoots;
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std::list<sharedClique> childRoots;
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typedef BayesTree<CONDITIONAL,CLIQUE> Tree;
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BOOST_FOREACH(const Tree& subtree, subtrees) {
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nodes_.insert(subtree.nodes_.begin(), subtree.nodes_.end());
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@ -329,12 +323,12 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class CONDITIONAL, class CLIQUE>
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void BayesTree<CONDITIONAL,CLIQUE>::print(const string& s) const {
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void BayesTree<CONDITIONAL,CLIQUE>::print(const std::string& s) const {
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if (root_.use_count() == 0) {
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printf("WARNING: BayesTree.print encountered a forest...\n");
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return;
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}
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cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << endl;
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std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl;
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if (nodes_.empty()) return;
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root_->printTree("");
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}
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@ -379,7 +373,7 @@ namespace gtsam {
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// if no parents, start a new root clique
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if (parents.empty()) {
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if(debug) cout << "No parents so making root" << endl;
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if(debug) std::cout << "No parents so making root" << std::endl;
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bayesTree.root_ = bayesTree.addClique(conditional);
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return;
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}
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// otherwise, find the parent clique by using the index data structure
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// to find the lowest-ordered parent
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Index parentRepresentative = bayesTree.findParentClique(parents);
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if(debug) cout << "First-eliminated parent is " << parentRepresentative << ", have " << bayesTree.nodes_.size() << " nodes." << endl;
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if(debug) std::cout << "First-eliminated parent is " << parentRepresentative << ", have " << bayesTree.nodes_.size() << " nodes." << std::endl;
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sharedClique parent_clique = bayesTree[parentRepresentative];
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if(debug) parent_clique->print("Parent clique is ");
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// if the parents and parent clique have the same size, add to parent clique
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if ((*parent_clique)->size() == size_t(parents.size())) {
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if(debug) cout << "Adding to parent clique" << endl;
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if(debug) std::cout << "Adding to parent clique" << std::endl;
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#ifndef NDEBUG
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// Debug check that the parent keys of the new conditional match the keys
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// currently in the clique.
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@ -408,7 +402,7 @@ namespace gtsam {
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#endif
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addToCliqueFront(bayesTree, conditional, parent_clique);
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} else {
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if(debug) cout << "Starting new clique" << endl;
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if(debug) std::cout << "Starting new clique" << std::endl;
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// otherwise, start a new clique and add it to the tree
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bayesTree.addClique(conditional,parent_clique);
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}
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@ -418,10 +412,10 @@ namespace gtsam {
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//TODO: remove this function after removing TSAM.cpp
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template<class CONDITIONAL, class CLIQUE>
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typename BayesTree<CONDITIONAL,CLIQUE>::sharedClique BayesTree<CONDITIONAL,CLIQUE>::insert(
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const sharedConditional& clique, list<sharedClique>& children, bool isRootClique) {
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const sharedConditional& clique, std::list<sharedClique>& children, bool isRootClique) {
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if (clique->nrFrontals() == 0)
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throw invalid_argument("BayesTree::insert: empty clique!");
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throw std::invalid_argument("BayesTree::insert: empty clique!");
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// create a new clique and add all the conditionals to the clique
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sharedClique new_clique = addClique(clique, children);
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@ -512,7 +506,7 @@ namespace gtsam {
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FactorGraph<FactorType> p_C1C2(C1->joint(C2, root_, function));
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// eliminate remaining factor graph to get requested joint
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vector<Index> key12(2); key12[0] = key1; key12[1] = key2;
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std::vector<Index> key12(2); key12[0] = key1; key12[1] = key2;
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GenericSequentialSolver<FactorType> solver(p_C1C2);
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return solver.jointFactorGraph(key12,function);
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}
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@ -24,14 +24,12 @@
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#include <gtsam/inference/IndexConditional.h>
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#include <boost/foreach.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/static_assert.hpp>
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#include <iostream>
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#include <set>
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#include <vector>
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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@ -41,7 +39,7 @@ typename EliminationTree<FACTOR>::sharedFactor EliminationTree<FACTOR>::eliminat
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static const bool debug = false;
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if(debug) cout << "ETree: eliminating " << this->key_ << endl;
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if(debug) std::cout << "ETree: eliminating " << this->key_ << std::endl;
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// Create the list of factors to be eliminated, initially empty, and reserve space
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FactorGraph<FACTOR> factors;
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@ -60,7 +58,7 @@ typename EliminationTree<FACTOR>::sharedFactor EliminationTree<FACTOR>::eliminat
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eliminated(function(factors, 1));
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conditionals[this->key_] = eliminated.first;
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if(debug) cout << "Eliminated " << this->key_ << " to get:\n";
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if(debug) std::cout << "Eliminated " << this->key_ << " to get:\n";
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if(debug) eliminated.first->print("Conditional: ");
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if(debug) eliminated.second->print("Factor: ");
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@ -69,17 +67,17 @@ typename EliminationTree<FACTOR>::sharedFactor EliminationTree<FACTOR>::eliminat
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/* ************************************************************************* */
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template<class FACTOR>
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vector<Index> EliminationTree<FACTOR>::ComputeParents(const VariableIndex& structure) {
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std::vector<Index> EliminationTree<FACTOR>::ComputeParents(const VariableIndex& structure) {
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// Number of factors and variables
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const size_t m = structure.nFactors();
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const size_t n = structure.size();
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static const Index none = numeric_limits<Index>::max();
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static const Index none = std::numeric_limits<Index>::max();
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// Allocate result parent vector and vector of last factor columns
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vector<Index> parents(n, none);
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vector<Index> prevCol(m, none);
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std::vector<Index> parents(n, none);
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std::vector<Index> prevCol(m, none);
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// for column j \in 1 to n do
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for (Index j = 0; j < n; j++) {
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@ -111,17 +109,17 @@ typename EliminationTree<FACTOR>::shared_ptr EliminationTree<FACTOR>::Create(
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tic(1, "ET ComputeParents");
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// Compute the tree structure
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vector<Index> parents(ComputeParents(structure));
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||||
std::vector<Index> parents(ComputeParents(structure));
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toc(1, "ET ComputeParents");
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// Number of variables
|
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const size_t n = structure.size();
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||||
static const Index none = numeric_limits<Index>::max();
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||||
static const Index none = std::numeric_limits<Index>::max();
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||||
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// Create tree structure
|
||||
tic(2, "assemble tree");
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||||
vector<shared_ptr> trees(n);
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||||
std::vector<shared_ptr> trees(n);
|
||||
for (Index k = 1; k <= n; k++) {
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||||
Index j = n - k; // Start at the last variable and loop down to 0
|
||||
trees[j].reset(new EliminationTree(j)); // Create a new node on this variable
|
||||
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@ -169,7 +167,7 @@ EliminationTree<FACTOR>::Create(const FactorGraph<DERIVEDFACTOR>& factorGraph) {
|
|||
/* ************************************************************************* */
|
||||
template<class FACTORGRAPH>
|
||||
void EliminationTree<FACTORGRAPH>::print(const std::string& name) const {
|
||||
cout << name << " (" << key_ << ")" << endl;
|
||||
std::cout << name << " (" << key_ << ")" << std::endl;
|
||||
BOOST_FOREACH(const sharedFactor& factor, factors_) {
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||||
factor->print(name + " "); }
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||||
BOOST_FOREACH(const shared_ptr& child, subTrees_) {
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||||
|
|
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|||
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|
@ -19,19 +19,15 @@
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|||
|
||||
#pragma once
|
||||
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||||
#include <gtsam/base/timing.h>
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||||
#include <gtsam/inference/SymbolicFactorGraph.h>
|
||||
#include <gtsam/inference/VariableSlots.h>
|
||||
#include <gtsam/inference/EliminationTree.h>
|
||||
#include <gtsam/base/timing.h>
|
||||
|
||||
#include <boost/foreach.hpp>
|
||||
#include <boost/lambda/bind.hpp>
|
||||
#include <boost/lambda/lambda.hpp>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
using namespace std;
|
||||
|
||||
/* ************************************************************************* */
|
||||
template <class FG, class BTCLIQUE>
|
||||
void JunctionTree<FG,BTCLIQUE>::construct(const FG& fg, const VariableIndex& variableIndex) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue