Merge pull request #1927 from borglab/discrete-improvements
Various Discrete Improvementsrelease/4.3a0
commit
2c9e315a2c
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@ -168,13 +168,9 @@ class GTSAM_EXPORT DiscreteConditional
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static_cast<const BaseConditional*>(this)->print(s, formatter);
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}
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/// Evaluate, just look up in AlgebraicDecisionTree
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virtual double evaluate(const Assignment<Key>& values) const override {
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return ADT::operator()(values);
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}
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using DecisionTreeFactor::error; ///< DiscreteValues version
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using DiscreteFactor::operator(); ///< DiscreteValues version
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using BaseFactor::error; ///< DiscreteValues version
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using BaseFactor::evaluate; ///< DiscreteValues version
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using BaseFactor::operator(); ///< DiscreteValues version
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/**
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* @brief restrict to given *parent* values.
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@ -40,7 +40,7 @@ class GTSAM_EXPORT DiscreteDistribution : public DiscreteConditional {
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/// Default constructor needed for serialization.
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DiscreteDistribution() {}
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/// Constructor from factor.
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/// Constructor from DecisionTreeFactor.
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explicit DiscreteDistribution(const DecisionTreeFactor& f)
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: Base(f.size(), f) {}
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@ -14,6 +14,7 @@
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* @date Feb 14, 2011
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* @author Duy-Nguyen Ta
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* @author Frank Dellaert
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* @author Varun Agrawal
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*/
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#include <gtsam/discrete/DiscreteBayesTree.h>
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@ -35,13 +36,12 @@ namespace gtsam {
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template class FactorGraph<DiscreteFactor>;
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template class EliminateableFactorGraph<DiscreteFactorGraph>;
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/* ************************************************************************* */
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bool DiscreteFactorGraph::equals(const This& fg, double tol) const
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{
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/* ************************************************************************ */
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bool DiscreteFactorGraph::equals(const This& fg, double tol) const {
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return Base::equals(fg, tol);
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}
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/* ************************************************************************* */
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/* ************************************************************************ */
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KeySet DiscreteFactorGraph::keys() const {
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KeySet keys;
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for (const sharedFactor& factor : *this) {
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@ -50,11 +50,11 @@ namespace gtsam {
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return keys;
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}
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/* ************************************************************************* */
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/* ************************************************************************ */
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DiscreteKeys DiscreteFactorGraph::discreteKeys() const {
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DiscreteKeys result;
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for (auto&& factor : *this) {
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if (auto p = std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
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if (auto p = std::dynamic_pointer_cast<DiscreteFactor>(factor)) {
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DiscreteKeys factor_keys = p->discreteKeys();
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result.insert(result.end(), factor_keys.begin(), factor_keys.end());
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}
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@ -63,26 +63,27 @@ namespace gtsam {
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return result;
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}
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/* ************************************************************************* */
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/* ************************************************************************ */
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DecisionTreeFactor DiscreteFactorGraph::product() const {
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DecisionTreeFactor result;
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for(const sharedFactor& factor: *this)
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for (const sharedFactor& factor : *this) {
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if (factor) result = (*factor) * result;
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}
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return result;
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}
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/* ************************************************************************* */
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double DiscreteFactorGraph::operator()(
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const DiscreteValues &values) const {
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/* ************************************************************************ */
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double DiscreteFactorGraph::operator()(const DiscreteValues& values) const {
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double product = 1.0;
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for( const sharedFactor& factor: factors_ )
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product *= (*factor)(values);
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for (const sharedFactor& factor : factors_) {
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if (factor) product *= (*factor)(values);
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}
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return product;
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}
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/* ************************************************************************* */
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/* ************************************************************************ */
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void DiscreteFactorGraph::print(const string& s,
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const KeyFormatter& formatter) const {
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const KeyFormatter& formatter) const {
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std::cout << s << std::endl;
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std::cout << "size: " << size() << std::endl;
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for (size_t i = 0; i < factors_.size(); i++) {
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@ -110,15 +111,18 @@ namespace gtsam {
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// }
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// }
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/* ************************************************************************ */
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// Alternate eliminate function for MPE
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std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> //
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EliminateForMPE(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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/**
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* @brief Multiply all the `factors` and normalize the
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* product to prevent underflow.
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*
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* @param factors The factors to multiply as a DiscreteFactorGraph.
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* @return DecisionTreeFactor
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*/
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static DecisionTreeFactor ProductAndNormalize(
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const DiscreteFactorGraph& factors) {
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// PRODUCT: multiply all factors
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gttic(product);
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DecisionTreeFactor product;
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for (auto&& factor : factors) product = (*factor) * product;
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DecisionTreeFactor product = factors.product();
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gttoc(product);
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// Max over all the potentials by pretending all keys are frontal:
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@ -127,6 +131,16 @@ namespace gtsam {
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// Normalize the product factor to prevent underflow.
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product = product / (*normalization);
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return product;
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}
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/* ************************************************************************ */
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// Alternate eliminate function for MPE
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
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EliminateForMPE(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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DecisionTreeFactor product = ProductAndNormalize(factors);
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// max out frontals, this is the factor on the separator
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gttic(max);
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DecisionTreeFactor::shared_ptr max = product.max(frontalKeys);
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@ -142,8 +156,8 @@ namespace gtsam {
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// Make lookup with product
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gttic(lookup);
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size_t nrFrontals = frontalKeys.size();
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auto lookup = std::make_shared<DiscreteLookupTable>(nrFrontals,
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orderedKeys, product);
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auto lookup =
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std::make_shared<DiscreteLookupTable>(nrFrontals, orderedKeys, product);
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gttoc(lookup);
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return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};
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@ -201,20 +215,10 @@ namespace gtsam {
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}
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/* ************************************************************************ */
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std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> //
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
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EliminateDiscrete(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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// PRODUCT: multiply all factors
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gttic(product);
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DecisionTreeFactor product;
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for (auto&& factor : factors) product = (*factor) * product;
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gttoc(product);
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// Max over all the potentials by pretending all keys are frontal:
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auto normalization = product.max(product.size());
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// Normalize the product factor to prevent underflow.
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product = product / (*normalization);
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DecisionTreeFactor product = ProductAndNormalize(factors);
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// sum out frontals, this is the factor on the separator
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gttic(sum);
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@ -14,6 +14,7 @@
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* @date Feb 14, 2011
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* @author Duy-Nguyen Ta
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* @author Frank Dellaert
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* @author Varun Agrawal
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*/
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#pragma once
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@ -48,7 +49,7 @@ class DiscreteJunctionTree;
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* @ingroup discrete
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*/
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GTSAM_EXPORT
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std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>
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EliminateDiscrete(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys);
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@ -61,7 +62,7 @@ EliminateDiscrete(const DiscreteFactorGraph& factors,
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* @ingroup discrete
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*/
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GTSAM_EXPORT
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std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>
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EliminateForMPE(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys);
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@ -113,7 +113,8 @@ TEST(DiscreteFactorGraph, test) {
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const Ordering frontalKeys{0};
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const auto [conditional, newFactorPtr] = EliminateDiscrete(graph, frontalKeys);
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DecisionTreeFactor newFactor = *newFactorPtr;
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DecisionTreeFactor newFactor =
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*std::dynamic_pointer_cast<DecisionTreeFactor>(newFactorPtr);
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// Normalize newFactor by max for comparison with expected
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auto normalization = newFactor.max(newFactor.size());
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