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Some cleanup, renaming

release/4.3a0
Frank Dellaert 2019-04-06 22:57:43 -04:00
parent 490a558fe1
commit 42284355f4
2 changed files with 29 additions and 26 deletions
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45
gtsam/linear/SubgraphPreconditioner.cpp
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@ -78,16 +78,19 @@ static vector<size_t> iidSampler(const vector<double> &weight, const size_t n) {
/* compute the sum of the weights */ /* compute the sum of the weights */
const double sum = std::accumulate(weight.begin(), weight.end(), 0.0); const double sum = std::accumulate(weight.begin(), weight.end(), 0.0);
if (sum==0.0) {
throw std::runtime_error("Weight vector has no non-zero weights");
}
/* make a normalized and accumulated version of the weight vector */ /* make a normalized and accumulated version of the weight vector */
const size_t m = weight.size(); const size_t m = weight.size();
vector<double> w; w.reserve(m); vector<double> cdf; cdf.reserve(m);
for ( size_t i = 0 ; i < m ; ++i ) { for ( size_t i = 0 ; i < m ; ++i ) {
w.push_back(weight[i]/sum); cdf.push_back(weight[i]/sum);
} }
vector<double> acc(m); vector<double> acc(m);
std::partial_sum(w.begin(),w.end(),acc.begin()); std::partial_sum(cdf.begin(),cdf.end(),acc.begin());
/* iid sample n times */ /* iid sample n times */
vector<size_t> result; result.reserve(n); vector<size_t> result; result.reserve(n);
@ -95,18 +98,18 @@ static vector<size_t> iidSampler(const vector<double> &weight, const size_t n) {
for ( size_t i = 0 ; i < n ; ++i ) { for ( size_t i = 0 ; i < n ; ++i ) {
const double value = rand() / denominator; const double value = rand() / denominator;
/* binary search the interval containing "value" */ /* binary search the interval containing "value" */
vector<double>::iterator it = std::lower_bound(acc.begin(), acc.end(), value); const auto it = std::lower_bound(acc.begin(), acc.end(), value);
size_t idx = it - acc.begin(); const size_t idx = it - acc.begin();
result.push_back(idx); result.push_back(idx);
} }
return result; return result;
} }
/*****************************************************************************/ /*****************************************************************************/
vector<size_t> uniqueSampler(const vector<double> &weight, const size_t n) { static vector<size_t> UniqueSampler(const vector<double> &weight, const size_t n) {
const size_t m = weight.size(); const size_t m = weight.size();
if ( n > m ) throw std::invalid_argument("uniqueSampler: invalid input size"); if ( n > m ) throw std::invalid_argument("UniqueSampler: invalid input size");
vector<size_t> result; vector<size_t> result;
@ -221,11 +224,11 @@ SubgraphBuilderParameters::Skeleton SubgraphBuilderParameters::skeletonTranslato
} }
/****************************************************************/ /****************************************************************/
std::string SubgraphBuilderParameters::skeletonTranslator(Skeleton w) { std::string SubgraphBuilderParameters::skeletonTranslator(Skeleton s) {
if ( w == NATURALCHAIN )return "NATURALCHAIN"; if ( s == NATURALCHAIN ) return "NATURALCHAIN";
else if ( w == BFS ) return "BFS"; else if ( s == BFS ) return "BFS";
else if ( w == KRUSKAL )return "KRUSKAL"; else if ( s == KRUSKAL ) return "KRUSKAL";
else return "UNKNOWN"; else return "UNKNOWN";
} }
/****************************************************************/ /****************************************************************/
@ -271,7 +274,7 @@ std::string SubgraphBuilderParameters::augmentationWeightTranslator(Augmentation
/****************************************************************/ /****************************************************************/
vector<size_t> SubgraphBuilder::buildTree(const GaussianFactorGraph &gfg, vector<size_t> SubgraphBuilder::buildTree(const GaussianFactorGraph &gfg,
const FastMap<Key, size_t> &ordering, const FastMap<Key, size_t> &ordering,
const vector<double> &w) const { const vector<double> &weights) const {
const SubgraphBuilderParameters &p = parameters_; const SubgraphBuilderParameters &p = parameters_;
switch (p.skeleton_) { switch (p.skeleton_) {
case SubgraphBuilderParameters::NATURALCHAIN: case SubgraphBuilderParameters::NATURALCHAIN:
@ -281,7 +284,7 @@ vector<size_t> SubgraphBuilder::buildTree(const GaussianFactorGraph &gfg,
return bfs(gfg); return bfs(gfg);
break; break;
case SubgraphBuilderParameters::KRUSKAL: case SubgraphBuilderParameters::KRUSKAL:
return kruskal(gfg, ordering, w); return kruskal(gfg, ordering, weights);
break; break;
default: default:
std::cerr << "SubgraphBuilder::buildTree undefined skeleton type" << endl; std::cerr << "SubgraphBuilder::buildTree undefined skeleton type" << endl;
@ -357,10 +360,10 @@ vector<size_t> SubgraphBuilder::bfs(const GaussianFactorGraph &gfg) const {
/****************************************************************/ /****************************************************************/
vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg, vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg,
const FastMap<Key, size_t> &ordering, const FastMap<Key, size_t> &ordering,
const vector<double> &w) const { const vector<double> &weights) const {
const VariableIndex variableIndex(gfg); const VariableIndex variableIndex(gfg);
const size_t n = variableIndex.size(); const size_t n = variableIndex.size();
const vector<size_t> idx = sort_idx(w) ; const vector<size_t> idx = sort_idx(weights) ;
/* initialize buffer */ /* initialize buffer */
vector<size_t> result; vector<size_t> result;
@ -379,7 +382,7 @@ vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg,
if ( dsf.find(u) != dsf.find(v) ) { if ( dsf.find(u) != dsf.find(v) ) {
dsf.merge(u, v) ; dsf.merge(u, v) ;
result.push_back(id) ; result.push_back(id) ;
sum += w[id] ; sum += weights[id] ;
if ( ++count == n-1 ) break ; if ( ++count == n-1 ) break ;
} }
} }
@ -388,14 +391,14 @@ vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg,
/****************************************************************/ /****************************************************************/
vector<size_t> SubgraphBuilder::sample(const vector<double> &weights, const size_t t) const { vector<size_t> SubgraphBuilder::sample(const vector<double> &weights, const size_t t) const {
return uniqueSampler(weights, t); return UniqueSampler(weights, t);
} }
/****************************************************************/ /****************************************************************/
Subgraph::shared_ptr SubgraphBuilder::operator() (const GaussianFactorGraph &gfg) const { Subgraph::shared_ptr SubgraphBuilder::operator() (const GaussianFactorGraph &gfg) const {
const SubgraphBuilderParameters &p = parameters_; const auto &p = parameters_;
const Ordering inverse_ordering = Ordering::Natural(gfg); const auto inverse_ordering = Ordering::Natural(gfg);
const FastMap<Key, size_t> forward_ordering = inverse_ordering.invert(); const FastMap<Key, size_t> forward_ordering = inverse_ordering.invert();
const size_t n = inverse_ordering.size(), m = gfg.size(); const size_t n = inverse_ordering.size(), m = gfg.size();
@ -411,7 +414,7 @@ Subgraph::shared_ptr SubgraphBuilder::operator() (const GaussianFactorGraph &gfg
// Build spanning tree. // Build spanning tree.
const vector<size_t> tree = buildTree(gfg, forward_ordering, weights); const vector<size_t> tree = buildTree(gfg, forward_ordering, weights);
if ( tree.size() != n-1 ) { if ( tree.size() != n-1 ) {
throw std::runtime_error("SubgraphBuilder::operator() tree.size() != n-1 failed "); throw std::runtime_error("SubgraphBuilder::operator() failure: tree.size() != n-1");
} }
// Downweight the tree edges to zero. // Downweight the tree edges to zero.

10
gtsam/linear/SubgraphPreconditioner.h
View File

@ -129,11 +129,11 @@ namespace gtsam {
enum AugmentationWeight { /* how to weigh the graph edges */ enum AugmentationWeight { /* how to weigh the graph edges */
SKELETON = 0, /* use the same weights in building the skeleton */ SKELETON = 0, /* use the same weights in building the skeleton */
// STRETCH, /* stretch in the laplacian sense */ // STRETCH, /* stretch in the laplacian sense */
// GENERALIZED_STRETCH /* the generalized stretch defined in jian2013iros */ // GENERALIZED_STRETCH /* the generalized stretch defined in jian2013iros */
} augmentationWeight_ ; } augmentationWeight_ ;
double complexity_; double complexity_; /* factor multiplied with n, yields number of extra edges. */
SubgraphBuilderParameters() SubgraphBuilderParameters()
: skeleton_(KRUSKAL), skeletonWeight_(RANDOM), augmentationWeight_(SKELETON), complexity_(1.0) {} : skeleton_(KRUSKAL), skeletonWeight_(RANDOM), augmentationWeight_(SKELETON), complexity_(1.0) {}
@ -145,7 +145,7 @@ namespace gtsam {
friend std::ostream& operator<<(std::ostream &os, const PreconditionerParameters &p); friend std::ostream& operator<<(std::ostream &os, const PreconditionerParameters &p);
static Skeleton skeletonTranslator(const std::string &s); static Skeleton skeletonTranslator(const std::string &s);
static std::string skeletonTranslator(Skeleton w); static std::string skeletonTranslator(Skeleton s);
static SkeletonWeight skeletonWeightTranslator(const std::string &s); static SkeletonWeight skeletonWeightTranslator(const std::string &s);
static std::string skeletonWeightTranslator(SkeletonWeight w); static std::string skeletonWeightTranslator(SkeletonWeight w);
static AugmentationWeight augmentationWeightTranslator(const std::string &s); static AugmentationWeight augmentationWeightTranslator(const std::string &s);
@ -170,7 +170,7 @@ namespace gtsam {
std::vector<size_t> unary(const GaussianFactorGraph &gfg) const ; std::vector<size_t> unary(const GaussianFactorGraph &gfg) const ;
std::vector<size_t> natural_chain(const GaussianFactorGraph &gfg) const ; std::vector<size_t> natural_chain(const GaussianFactorGraph &gfg) const ;
std::vector<size_t> bfs(const GaussianFactorGraph &gfg) const ; std::vector<size_t> bfs(const GaussianFactorGraph &gfg) const ;
std::vector<size_t> kruskal(const GaussianFactorGraph &gfg, const FastMap<Key, size_t> &ordering, const std::vector<double> &w) const ; std::vector<size_t> kruskal(const GaussianFactorGraph &gfg, const FastMap<Key, size_t> &ordering, const std::vector<double> &weights) const ;
std::vector<size_t> sample(const std::vector<double> &weights, const size_t t) const ; std::vector<size_t> sample(const std::vector<double> &weights, const size_t t) const ;
Weights weights(const GaussianFactorGraph &gfg) const; Weights weights(const GaussianFactorGraph &gfg) const;
SubgraphBuilderParameters parameters_; SubgraphBuilderParameters parameters_;