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improved docstring

release/4.3a0
Varun Agrawal 2025-01-03 14:53:41 -05:00
parent 83bb404856
commit 2e0695470a
1 changed files with 15 additions and 17 deletions
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32
gtsam/discrete/TableDistribution.h
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@ -29,9 +29,12 @@
namespace gtsam {
/**
* Discrete Conditional Density which uses a SparseVector as the internal
* Distribution which uses a SparseVector as the internal
* representation, similar to the TableFactor.
*
* This is primarily used in the case when we have a clique in the BayesTree
* which consists of all the discrete variables, e.g. in hybrid elimination.
*
* @ingroup discrete
*/
class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
@ -42,7 +45,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
public:
// typedefs needed to play nice with gtsam
typedef TableDistribution This; ///< Typedef to this class
typedef TableDistribution This; ///< Typedef to this class
typedef std::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
typedef DiscreteConditional
BaseConditional; ///< Typedef to our conditional base class
@ -63,7 +66,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* `nFrontals` keys as frontals, in the order given.
*/
TableDistribution(size_t nFrontals, const DiscreteKeys& keys,
const Eigen::SparseVector<double>& potentials);
const Eigen::SparseVector<double>& potentials);
/** Construct from signature */
explicit TableDistribution(const Signature& signature);
@ -76,7 +79,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* Example: TableDistribution P(D, {B,E}, table);
*/
TableDistribution(const DiscreteKey& key, const DiscreteKeys& parents,
const Signature::Table& table)
const Signature::Table& table)
: TableDistribution(Signature(key, parents, table)) {}
/**
@ -87,9 +90,8 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* Example: TableDistribution P(D, {B,E}, table);
*/
TableDistribution(const DiscreteKey& key, const DiscreteKeys& parents,
const std::vector<double>& table)
: TableDistribution(
1, TableFactor(DiscreteKeys{key} & parents, table)) {}
const std::vector<double>& table)
: TableDistribution(1, TableFactor(DiscreteKeys{key} & parents, table)) {}
/**
* Construct from key, parents, and a string specifying the conditional
@ -101,7 +103,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* Example: TableDistribution P(D, {B,E}, "9/1 2/8 3/7 1/9");
*/
TableDistribution(const DiscreteKey& key, const DiscreteKeys& parents,
const std::string& spec)
const std::string& spec)
: TableDistribution(Signature(key, parents, spec)) {}
/// No-parent specialization; can also use DiscreteDistribution.
@ -112,17 +114,15 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* @brief construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y)
* Assumes but *does not check* that f(Y)=sum_X f(X,Y).
*/
TableDistribution(const TableFactor& joint,
const TableFactor& marginal);
TableDistribution(const TableFactor& joint, const TableFactor& marginal);
/**
* @brief construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y)
* Assumes but *does not check* that f(Y)=sum_X f(X,Y).
* Makes sure the keys are ordered as given. Does not check orderedKeys.
*/
TableDistribution(const TableFactor& joint,
const TableFactor& marginal,
const Ordering& orderedKeys);
TableDistribution(const TableFactor& joint, const TableFactor& marginal,
const Ordering& orderedKeys);
/**
* @brief Combine two conditionals, yielding a new conditional with the union
@ -139,8 +139,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
* P(A|B) * P(B|A) = ?
* We check for overlapping frontals, but do *not* check for cyclic.
*/
TableDistribution operator*(
const TableDistribution& other) const;
TableDistribution operator*(const TableDistribution& other) const;
/// @}
/// @name Testable
@ -214,7 +213,6 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
// traits
template <>
struct traits<TableDistribution>
: public Testable<TableDistribution> {};
struct traits<TableDistribution> : public Testable<TableDistribution> {};
} // namespace gtsam