isam functionality separated into ISAM class, still within BayesTree
Michael Kaess
parent
2cb52694b5
commit
4403b51fcd
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@ -237,6 +237,10 @@ namespace gtsam {
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void BayesTree<Conditional>::print(const string& s) const {
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cout << s << ": size == " << size() << endl;
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if (nodes_.empty()) return;
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if (root_.use_count() == 0) {
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printf("WARNING: Forest...\n");
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return;
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}
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root_->printTree("");
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}
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@ -367,7 +371,7 @@ namespace gtsam {
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template<class Conditional>
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template<class Factor>
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pair<FactorGraph<Factor>, typename BayesTree<Conditional>::Cliques>
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BayesTree<Conditional>::removePath(sharedClique clique) {
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ISAM<Conditional>::removePath(sharedClique clique) {
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FactorGraph<Factor> factors;
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Cliques orphans;
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@ -376,10 +380,10 @@ namespace gtsam {
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if (clique!=NULL) {
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// remove me
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removeClique(clique);
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this->removeClique(clique);
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// remove path above me
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boost::tie(factors,orphans) = removePath<Factor>(clique->parent_);
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boost::tie(factors,orphans) = this->removePath<Factor>(clique->parent_);
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// add children to list of orphans (splice also removed them from clique->children_)
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orphans.splice (orphans.begin(), clique->children_);
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@ -387,8 +391,9 @@ namespace gtsam {
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// Convert clique to a factor graph, using constructor in FactorGraph
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FactorGraph<Factor> clique_factors(*clique);
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// add to the list of "imvalidated" factors
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// add to the list of "invalidated" factors
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factors.push_back(clique_factors);
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}
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return make_pair(factors,orphans);
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@ -398,7 +403,7 @@ namespace gtsam {
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// TODO: add to factors and orphans
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template<class Conditional>
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template<class Factor>
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void BayesTree<Conditional>::removeTop(const boost::shared_ptr<Factor>& newFactor,
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void ISAM<Conditional>::removeTop(const boost::shared_ptr<Factor>& newFactor,
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FactorGraph<Factor> &factors, typename BayesTree<Conditional>::Cliques& orphans) {
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// process each key of the new factor
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@ -410,11 +415,12 @@ namespace gtsam {
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// remove path from clique to root
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FactorGraph<Factor> factors1; Cliques orphans1;
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boost::tie(factors1,orphans1) = removePath<Factor>(clique);
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boost::tie(factors1,orphans1) = this->removePath<Factor>(clique);
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// add to global factors and orphans
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factors.push_back(factors1);
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orphans.splice (orphans.begin(), orphans1);
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} catch (std::invalid_argument e) {
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}
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}
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@ -423,11 +429,11 @@ namespace gtsam {
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template<class Conditional>
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template<class Factor>
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pair<FactorGraph<Factor>, typename BayesTree<Conditional>::Cliques>
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BayesTree<Conditional>::removeTop(const FactorGraph<Factor>& newFactors) {
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ISAM<Conditional>::removeTop(const FactorGraph<Factor>& newFactors) {
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// Remove the contaminated part of the Bayes tree
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FactorGraph<Factor> factors;
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Cliques orphans;
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BOOST_FOREACH(boost::shared_ptr<Factor> factor, newFactors)
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this->removeTop<Factor>(factor, factors, orphans);
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@ -437,17 +443,24 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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template<class Factor>
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void BayesTree<Conditional>::update_internal(const FactorGraph<Factor>& newFactors, Cliques& orphans) {
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void ISAM<Conditional>::update_internal(const FactorGraph<Factor>& newFactors, Cliques& orphans) {
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// Remove the contaminated part of the Bayes tree
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FactorGraph<Factor> factors;
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boost::tie(factors, orphans) = removeTop<Factor>(newFactors);
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boost::tie(factors, orphans) = this->removeTop<Factor>(newFactors);
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// add the factors themselves
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factors.push_back(newFactors);
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// create an ordering for the new and contaminated factors
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Ordering ordering = factors.getOrdering();
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Ordering ordering;
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if (true) {
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ordering = factors.getOrdering();
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} else {
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list<string> keys = factors.keys();
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keys.sort(); // todo: correct sorting order?
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ordering = keys;
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}
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// eliminate into a Bayes net
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BayesNet<Conditional> bayesNet = eliminate<Factor, Conditional>(factors,ordering);
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@ -455,7 +468,7 @@ namespace gtsam {
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// insert conditionals back in, straight into the topless bayesTree
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typename BayesNet<Conditional>::const_reverse_iterator rit;
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for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit )
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insert(*rit);
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this->insert(*rit);
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int count = 0;
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// add orphans to the bottom of the new tree
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@ -472,9 +485,9 @@ namespace gtsam {
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template<class Conditional>
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template<class Factor>
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void BayesTree<Conditional>::update(const FactorGraph<Factor>& newFactors) {
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void ISAM<Conditional>::update(const FactorGraph<Factor>& newFactors) {
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Cliques orphans;
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update_internal(newFactors, orphans);
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this->update_internal<Factor>(newFactors, orphans);
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}
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/* ************************************************************************* */
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@ -104,6 +104,8 @@ namespace gtsam {
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sharedClique addClique(const sharedConditional& conditional,
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sharedClique parent_clique = sharedClique());
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protected:
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/** remove a clique: warning, can result in a forest */
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void removeClique(sharedClique clique);
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@ -163,6 +165,27 @@ namespace gtsam {
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template<class Factor>
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BayesNet<Conditional> jointBayesNet(const std::string& key1, const std::string& key2) const;
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}; // BayesTree
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template<class Conditional>
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class ISAM: public BayesTree<Conditional> {
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public:
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/** Create an empty Bayes Tree */
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ISAM() : BayesTree<Conditional>() {}
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/** Create a Bayes Tree from a Bayes Net */
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ISAM(const BayesNet<Conditional>& bayesNet) : BayesTree<Conditional>(bayesNet) {}
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/** Destructor */
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virtual ~ISAM() {
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}
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typedef typename BayesTree<Conditional>::sharedClique sharedClique;
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typedef typename BayesTree<Conditional>::Cliques Cliques;
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/**
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* Remove path from clique to root and return that path as factors
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* plus a list of orphaned subtree roots. Used in removeTop below.
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@ -195,6 +218,6 @@ namespace gtsam {
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template<class Factor>
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void update(const FactorGraph<Factor>& newFactors);
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}; // BayesTree
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}; // ISAM
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} /// namespace gtsam
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@ -20,6 +20,10 @@ using namespace boost::assign;
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using namespace gtsam;
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typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
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typedef ISAM<SymbolicConditional> SymbolicISAM;
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//template class BayesTree<SymbolicConditional>; // todo: needed?
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//template class ISAM<SymbolicConditional>;
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/* ************************************************************************* */
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// SLAM example from RSS sqrtSAM paper
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@ -30,9 +34,9 @@ SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")),
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l2(new SymbolicConditional("l2","x1","x3"));
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// Bayes Tree for sqrtSAM example
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SymbolicBayesTree createSlamSymbolicBayesTree(){
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SymbolicISAM createSlamSymbolicBayesTree(){
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// Create using insert
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SymbolicBayesTree bayesTree_slam;
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SymbolicISAM bayesTree_slam;
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bayesTree_slam.insert(x3);
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bayesTree_slam.insert(x2);
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bayesTree_slam.insert(x1);
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@ -54,8 +58,8 @@ SymbolicConditional::shared_ptr
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X(new SymbolicConditional("X", "E"));
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// Bayes Tree for Asia example
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SymbolicBayesTree createAsiaSymbolicBayesTree() {
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SymbolicBayesTree bayesTree;
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SymbolicISAM createAsiaSymbolicBayesTree() {
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SymbolicISAM bayesTree;
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bayesTree.insert(B);
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bayesTree.insert(L);
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bayesTree.insert(E);
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@ -124,7 +128,7 @@ TEST( BayesTree, removePath )
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D(new SymbolicConditional("D", "C")),
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E(new SymbolicConditional("E", "B")),
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F(new SymbolicConditional("F", "E"));
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SymbolicBayesTree bayesTree;
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SymbolicISAM bayesTree;
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bayesTree.insert(A);
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bayesTree.insert(B);
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bayesTree.insert(C);
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@ -138,11 +142,11 @@ TEST( BayesTree, removePath )
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expected.push_factor("A","B");
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expected.push_factor("A");
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expected.push_factor("A","C");
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SymbolicBayesTree::Cliques expectedOrphans;
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SymbolicISAM::Cliques expectedOrphans;
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expectedOrphans += bayesTree["D"], bayesTree["E"];
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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SymbolicISAM::Cliques orphans;
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boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
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CHECK(assert_equal(expectedOrphans, orphans));
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@ -150,7 +154,7 @@ TEST( BayesTree, removePath )
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// remove E: factor graph with EB; E|B removed from second orphan tree
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SymbolicFactorGraph expected2;
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expected2.push_factor("B","E");
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SymbolicBayesTree::Cliques expectedOrphans2;
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SymbolicISAM::Cliques expectedOrphans2;
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expectedOrphans2 += bayesTree["F"];
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boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["E"]);
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@ -161,11 +165,11 @@ TEST( BayesTree, removePath )
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/* ************************************************************************* */
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TEST( BayesTree, removePath2 )
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{
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SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
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SymbolicISAM bayesTree = createAsiaSymbolicBayesTree();
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// Call remove-path with clique B
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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SymbolicISAM::Cliques orphans;
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boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["B"]);
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// Check expected outcome
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@ -174,7 +178,7 @@ TEST( BayesTree, removePath2 )
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expected.push_factor("B","L");
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expected.push_factor("B");
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
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SymbolicBayesTree::Cliques expectedOrphans;
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SymbolicISAM::Cliques expectedOrphans;
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expectedOrphans += bayesTree["S"], bayesTree["T"], bayesTree["X"];
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CHECK(assert_equal(expectedOrphans, orphans));
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}
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@ -182,11 +186,11 @@ TEST( BayesTree, removePath2 )
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/* ************************************************************************* */
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TEST( BayesTree, removePath3 )
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{
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SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
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SymbolicISAM bayesTree = createAsiaSymbolicBayesTree();
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// Call remove-path with clique S
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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SymbolicISAM::Cliques orphans;
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boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["S"]);
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// Check expected outcome
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@ -196,22 +200,22 @@ TEST( BayesTree, removePath3 )
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expected.push_factor("B");
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expected.push_factor("L","B","S");
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
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SymbolicBayesTree::Cliques expectedOrphans;
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SymbolicISAM::Cliques expectedOrphans;
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expectedOrphans += bayesTree["T"], bayesTree["X"];
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CHECK(assert_equal(expectedOrphans, orphans));
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}
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/* ************************************************************************* */
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TEST( BayesTree, removeTop )
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TEST( ISAM, removeTop )
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{
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SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
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SymbolicISAM bayesTree = createAsiaSymbolicBayesTree();
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// create a new factor to be inserted
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boost::shared_ptr<SymbolicFactor> newFactor(new SymbolicFactor("B","S"));
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// Remove the contaminated part of the Bayes tree
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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SymbolicISAM::Cliques orphans;
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bayesTree.removeTop<SymbolicFactor>(newFactor, factors, orphans);
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// Check expected outcome
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@ -221,26 +225,26 @@ TEST( BayesTree, removeTop )
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expected.push_factor("B");
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expected.push_factor("L","B","S");
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
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SymbolicBayesTree::Cliques expectedOrphans;
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SymbolicISAM::Cliques expectedOrphans;
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expectedOrphans += bayesTree["T"], bayesTree["X"];
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CHECK(assert_equal(expectedOrphans, orphans));
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// Try removeTop again with a factor that should not change a thing
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boost::shared_ptr<SymbolicFactor> newFactor2(new SymbolicFactor("B"));
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FactorGraph<SymbolicFactor> factors2;
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SymbolicBayesTree::Cliques orphans2;
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SymbolicISAM::Cliques orphans2;
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bayesTree.removeTop<SymbolicFactor>(newFactor2, factors2, orphans2);
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SymbolicFactorGraph expected2;
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected2, factors2));
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SymbolicBayesTree::Cliques expectedOrphans2;
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SymbolicISAM::Cliques expectedOrphans2;
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CHECK(assert_equal(expectedOrphans2, orphans2));
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}
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/* ************************************************************************* */
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TEST( BayesTree, removeTop2 )
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TEST( ISAM, removeTop2 )
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{
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SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
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SymbolicISAM bayesTree = createAsiaSymbolicBayesTree();
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// create two factors to be inserted
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SymbolicFactorGraph newFactors;
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@ -249,7 +253,7 @@ TEST( BayesTree, removeTop2 )
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// Remove the contaminated part of the Bayes tree
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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SymbolicISAM::Cliques orphans;
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boost::tie(factors,orphans) = bayesTree.removeTop<SymbolicFactor>(newFactors);
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// Check expected outcome
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@ -259,15 +263,15 @@ TEST( BayesTree, removeTop2 )
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expected.push_factor("B");
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expected.push_factor("L","B","S");
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
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SymbolicBayesTree::Cliques expectedOrphans;
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SymbolicISAM::Cliques expectedOrphans;
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expectedOrphans += bayesTree["T"], bayesTree["X"];
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CHECK(assert_equal(expectedOrphans, orphans));
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}
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/* ************************************************************************* */
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TEST( BayesTree, iSAM )
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TEST( ISAM, iSAM )
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{
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SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
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SymbolicISAM bayesTree = createAsiaSymbolicBayesTree();
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// Now we modify the Bayes tree by inserting a new factor over B and S
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@ -279,7 +283,7 @@ TEST( BayesTree, iSAM )
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B_(new SymbolicConditional("B", "E", "L", "S"));
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// Create expected Bayes tree
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SymbolicBayesTree expected;
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SymbolicISAM expected;
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expected.insert(S_);
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expected.insert(L_);
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expected.insert(E_);
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@ -298,19 +302,19 @@ TEST( BayesTree, iSAM )
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// Check whether the same
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CHECK(assert_equal(expected,bayesTree));
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}
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/* ************************************************************************* */
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TEST( BayesTree, iSAM_slam )
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TEST( ISAM, iSAM_slam )
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{
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// Create using insert
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SymbolicBayesTree bayesTree_slam = createSlamSymbolicBayesTree();
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SymbolicISAM bayesTree_slam = createSlamSymbolicBayesTree();
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//New conditionals for the expected Bayes tree
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SymbolicConditional::shared_ptr
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l1_(new SymbolicConditional("l1","x1","x2","x3"));
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// Create expected Bayes tree
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SymbolicBayesTree expected_slam;
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SymbolicISAM expected_slam;
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expected_slam.insert(x3);
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expected_slam.insert(x2);
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expected_slam.insert(x1);
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