From 3ea5aed26e3e5d220e1de7be5d8e738940649304 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 9 Jan 2022 11:42:56 -0500
Subject: [PATCH] html for all graphs

---
 gtsam/discrete/DiscreteBayesNet.cpp    | 17 +++++++++++++++--
 gtsam/discrete/DiscreteBayesNet.h      | 21 ++++++++++++++-------
 gtsam/discrete/DiscreteBayesTree.cpp   | 18 ++++++++++++++++++
 gtsam/discrete/DiscreteBayesTree.h     |  6 +++++-
 gtsam/discrete/DiscreteConditional.cpp |  5 ++++-
 gtsam/discrete/DiscreteFactorGraph.cpp | 17 +++++++++++++++--
 gtsam/discrete/DiscreteFactorGraph.h   | 17 +++++++++++++----
 gtsam/discrete/discrete.i              | 12 ++++++++++++
 8 files changed, 96 insertions(+), 17 deletions(-)

diff --git a/gtsam/discrete/DiscreteBayesNet.cpp b/gtsam/discrete/DiscreteBayesNet.cpp
index 510fb5638..c0dfd747c 100644
--- a/gtsam/discrete/DiscreteBayesNet.cpp
+++ b/gtsam/discrete/DiscreteBayesNet.cpp
@@ -61,16 +61,29 @@ namespace gtsam {
     return result;
   }
 
-  /* ************************************************************************* */
+  /* *********************************************************************** */
   std::string DiscreteBayesNet::markdown(
       const KeyFormatter& keyFormatter,
       const DiscreteFactor::Names& names) const {
     using std::endl;
     std::stringstream ss;
     ss << "`DiscreteBayesNet` of size " << size() << endl << endl;
-    for(const DiscreteConditional::shared_ptr& conditional: *this)
+    for (const DiscreteConditional::shared_ptr& conditional : *this)
       ss << conditional->markdown(keyFormatter, names) << endl;
     return ss.str();
   }
+
+  /* *********************************************************************** */
+  std::string DiscreteBayesNet::html(
+      const KeyFormatter& keyFormatter,
+      const DiscreteFactor::Names& names) const {
+    using std::endl;
+    std::stringstream ss;
+    ss << "<div><p><tt>DiscreteBayesNet</tt> of size " << size() << "</p>";
+    for (const DiscreteConditional::shared_ptr& conditional : *this)
+      ss << conditional->html(keyFormatter, names) << endl;
+    return ss.str();
+  }
+
 /* ************************************************************************* */
 } // namespace
diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h
index 5332b51dd..17dfe2c5f 100644
--- a/gtsam/discrete/DiscreteBayesNet.h
+++ b/gtsam/discrete/DiscreteBayesNet.h
@@ -18,13 +18,16 @@
 
 #pragma once
 
-#include <vector>
-#include <map>
-#include <boost/shared_ptr.hpp>
+#include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/discrete/DiscretePrior.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/FactorGraph.h>
-#include <gtsam/discrete/DiscretePrior.h>
-#include <gtsam/discrete/DiscreteConditional.h>
+
+#include <boost/shared_ptr.hpp>
+#include <map>
+#include <string>
+#include <utility>
+#include <vector>
 
 namespace gtsam {
 
@@ -107,13 +110,17 @@ namespace gtsam {
     /// @name Wrapper support
     /// @{
 
-    /// Render as markdown table.
+    /// Render as markdown tables.
     std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                          const DiscreteFactor::Names& names = {}) const;
 
+    /// Render as html tables.
+    std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                     const DiscreteFactor::Names& names = {}) const;
+
     /// @}
 
-  private:
+ private:
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
diff --git a/gtsam/discrete/DiscreteBayesTree.cpp b/gtsam/discrete/DiscreteBayesTree.cpp
index 07d6e0f0e..139292eee 100644
--- a/gtsam/discrete/DiscreteBayesTree.cpp
+++ b/gtsam/discrete/DiscreteBayesTree.cpp
@@ -72,5 +72,23 @@ namespace gtsam {
     return ss.str();
   }
 
+  /* **************************************************************************/
+  std::string DiscreteBayesTree::html(
+      const KeyFormatter& keyFormatter,
+      const DiscreteFactor::Names& names) const {
+    using std::endl;
+    std::stringstream ss;
+    ss << "<div><p><tt>DiscreteBayesTree</tt> of size " << nodes_.size()
+       << "</p>";
+    auto visitor = [&](const DiscreteBayesTreeClique::shared_ptr& clique,
+                       size_t& indent) {
+      ss << clique->conditional()->html(keyFormatter, names);
+      return indent + 1;
+    };
+    size_t indent;
+    treeTraversal::DepthFirstForest(*this, indent, visitor);
+    return ss.str();
+  }
+
   /* **************************************************************************/
   }  // namespace gtsam
diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h
index 6189f25d5..809ce9c83 100644
--- a/gtsam/discrete/DiscreteBayesTree.h
+++ b/gtsam/discrete/DiscreteBayesTree.h
@@ -92,10 +92,14 @@ class GTSAM_EXPORT DiscreteBayesTree
   /// @name Wrapper support
   /// @{
 
-  /// Render as markdown table.
+  /// Render as markdown tables.
   std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                        const DiscreteFactor::Names& names = {}) const;
 
+  /// Render as html tables.
+  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                   const DiscreteFactor::Names& names = {}) const;
+
   /// @}
 };
 
diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index 48f8fd322..512ff88b4 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -410,16 +410,19 @@ string DiscreteConditional::html(const KeyFormatter& keyFormatter,
   }
   auto frontalAssignments = this->frontalAssignments();
   for (const auto& a : frontalAssignments) {
+    ss << "<th>";
     for (auto&& it = beginFrontals(); it != endFrontals(); ++it) {
       size_t index = a.at(*it);
-      ss << "<th>" << Translate(names, *it, index) << "</th>";
+      ss << Translate(names, *it, index);
     }
+    ss << "</th>";
   }
   ss << "</tr>\n";
 
   // Finish header and start body.
   ss << "  </thead>\n  <tbody>\n";
 
+  // Output all rows, one per assignment:
   size_t count = 0, n = frontalAssignments.size();
   for (const auto& a : allAssignments()) {
     if (count == 0) {
diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index be046d290..c1248c60b 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -131,7 +131,7 @@ namespace gtsam {
     return std::make_pair(cond, sum);
   }
 
-  /* ************************************************************************* */
+  /* ************************************************************************ */
   string DiscreteFactorGraph::markdown(
       const KeyFormatter& keyFormatter,
       const DiscreteFactor::Names& names) const {
@@ -145,5 +145,18 @@ namespace gtsam {
     return ss.str();
   }
 
-  /* ************************************************************************* */
+  /* ************************************************************************ */
+  string DiscreteFactorGraph::html(const KeyFormatter& keyFormatter,
+                                   const DiscreteFactor::Names& names) const {
+    using std::endl;
+    std::stringstream ss;
+    ss << "<div><p><tt>DiscreteFactorGraph</tt> of size " << size() << "</p>";
+    for (size_t i = 0; i < factors_.size(); i++) {
+      ss << "<p>factor " << i << ":</p>";
+      ss << factors_[i]->html(keyFormatter, names) << endl;
+    }
+    return ss.str();
+  }
+
+  /* ************************************************************************ */
   }  // namespace gtsam
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index 9aa04d649..08c3d893d 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -22,18 +22,17 @@
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
-#include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/base/FastSet.h>
 
 #include <boost/make_shared.hpp>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace gtsam {
 
 // Forward declarations
 class DiscreteFactorGraph;
-class DiscreteFactor;
 class DiscreteConditional;
 class DiscreteBayesNet;
 class DiscreteEliminationTree;
@@ -144,8 +143,8 @@ public:
   /// @{
 
   /**
-   * @brief Render as markdown table
-   * 
+   * @brief Render as markdown tables
+   *
    * @param keyFormatter GTSAM-style Key formatter.
    * @param names optional, a map from Key to category names.
    * @return std::string a (potentially long) markdown string.
@@ -153,6 +152,16 @@ public:
   std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                        const DiscreteFactor::Names& names = {}) const;
 
+  /**
+   * @brief Render as html tables
+   *
+   * @param keyFormatter GTSAM-style Key formatter.
+   * @param names optional, a map from Key to category names.
+   * @return std::string a (potentially long) html string.
+   */
+  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                   const DiscreteFactor::Names& names = {}) const;
+
   /// @}
 }; // \ DiscreteFactorGraph
 
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 3e8013ce8..9bf324fd3 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -144,6 +144,10 @@ class DiscreteBayesNet {
                       gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
                   std::map<gtsam::Key, std::vector<std::string>> names) const;
+  string html(const gtsam::KeyFormatter& keyFormatter =
+                  gtsam::DefaultKeyFormatter) const;
+  string html(const gtsam::KeyFormatter& keyFormatter,
+              std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscreteBayesTree.h>
@@ -180,6 +184,10 @@ class DiscreteBayesTree {
                  gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
                   std::map<gtsam::Key, std::vector<std::string>> names) const;
+  string html(const gtsam::KeyFormatter& keyFormatter =
+                  gtsam::DefaultKeyFormatter) const;
+  string html(const gtsam::KeyFormatter& keyFormatter,
+              std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/inference/DotWriter.h>
@@ -229,6 +237,10 @@ class DiscreteFactorGraph {
                  gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
                   std::map<gtsam::Key, std::vector<std::string>> names) const;
+  string html(const gtsam::KeyFormatter& keyFormatter =
+                  gtsam::DefaultKeyFormatter) const;
+  string html(const gtsam::KeyFormatter& keyFormatter,
+              std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 }  // namespace gtsam