Removed debug code, added marginal function
parent
ec6611ae56
commit
4865edb883
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@ -6,6 +6,7 @@
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#include <boost/foreach.hpp>
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#include "BayesTree.h"
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#include "FactorGraph.h"
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namespace gtsam {
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@ -27,7 +28,7 @@ namespace gtsam {
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if (!separator_.empty()) {
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cout << " :";
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BOOST_FOREACH(string key, separator_)
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cout << " " << key;
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cout << " " << key;
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}
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cout << endl;
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}
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@ -48,10 +49,10 @@ namespace gtsam {
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/* ************************************************************************* */
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// TODO: traversal is O(n*log(n)) but could be O(n) with better bayesNet
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template<class Conditional>
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BayesTree<Conditional>::BayesTree(const BayesNet<Conditional>& bayesNet, bool verbose) {
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BayesTree<Conditional>::BayesTree(const BayesNet<Conditional>& bayesNet) {
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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,verbose);
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insert(*rit);
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}
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/* ************************************************************************* */
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@ -73,22 +74,29 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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void BayesTree<Conditional>::insert(const boost::shared_ptr<Conditional>& conditional, bool verbose) {
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void BayesTree<Conditional>::addClique
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(const boost::shared_ptr<Conditional>& conditional, node_ptr parent_clique)
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{
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node_ptr new_clique(new Node(conditional));
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nodeMap_.insert(make_pair(conditional->key(), nodes_.size()));
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nodes_.push_back(new_clique);
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if (parent_clique==NULL) return;
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new_clique->parent_ = parent_clique;
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parent_clique->children_.push_back(new_clique);
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}
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string key = conditional->key();
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if (verbose) cout << "Inserting " << key << "| ";
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// get parents
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/* ************************************************************************* */
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template<class Conditional>
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void BayesTree<Conditional>::insert
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(const boost::shared_ptr<Conditional>& conditional)
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{
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// get key and parents
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string key = conditional->key();
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list<string> parents = conditional->parents();
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if (verbose) BOOST_FOREACH(string p, parents) cout << p << " ";
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if (verbose) cout << endl;
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// if no parents, start a new root clique
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if (parents.empty()) {
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if (verbose) cout << "Creating root clique" << endl;
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node_ptr root(new Node(conditional));
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nodes_.push_back(root);
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nodeMap_.insert(make_pair(key, 0));
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addClique(conditional);
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return;
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}
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@ -96,26 +104,35 @@ namespace gtsam {
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string parent = parents.front();
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NodeMap::const_iterator it = nodeMap_.find(parent);
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if (it == nodeMap_.end()) throw(invalid_argument(
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"BayesTree::insert('"+key+"'): parent '" + parent + "' was not yet inserted"));
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int index = it->second;
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node_ptr parent_clique = nodes_[index];
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if (verbose) cout << "Parent clique " << index << " of size " << parent_clique->size() << endl;
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"BayesTree::insert('"+key+"'): parent '" + parent + "' not yet inserted"));
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int parent_index = it->second;
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node_ptr parent_clique = nodes_[parent_index];
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// if the parents and parent clique have the same size, add to parent clique
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if (parent_clique->size() == parents.size()) {
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if (verbose) cout << "Adding to clique " << index << endl;
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nodeMap_.insert(make_pair(key, index));
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nodeMap_.insert(make_pair(key, parent_index));
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parent_clique->push_front(conditional);
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return;
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}
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// otherwise, start a new clique and add it to the tree
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if (verbose) cout << "Starting new clique" << endl;
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node_ptr new_clique(new Node(conditional));
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new_clique->parent_ = parent_clique;
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parent_clique->children_.push_back(new_clique);
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nodeMap_.insert(make_pair(key, nodes_.size()));
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nodes_.push_back(new_clique);
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addClique(conditional,parent_clique);
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}
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/* ************************************************************************* */
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template<class Conditional>
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boost::shared_ptr<Conditional> BayesTree<Conditional>::marginal(const string& key) const {
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// find the clique to which key belongs
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NodeMap::const_iterator it = nodeMap_.find(key);
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if (it == nodeMap_.end()) throw(invalid_argument(
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"BayesTree::marginal('"+key+"'): key not found"));
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// find all cliques on the path to the root
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// FactorGraph
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boost::shared_ptr<Conditional> result(new Conditional);
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return result;
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}
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/* ************************************************************************* */
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@ -30,7 +30,6 @@ namespace gtsam {
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public:
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typedef boost::shared_ptr<Conditional> conditional_ptr;
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typedef std::pair<std::string,conditional_ptr> NamedConditional;
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private:
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@ -66,13 +65,16 @@ namespace gtsam {
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typedef std::map<std::string, int> NodeMap;
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NodeMap nodeMap_;
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/** add a clique */
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void addClique(const conditional_ptr& conditional, node_ptr parent_clique=node_ptr());
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public:
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/** Create an empty Bayes Tree */
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BayesTree();
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/** Create a Bayes Tree from a Bayes Net */
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BayesTree(const BayesNet<Conditional>& bayesNet, bool verbose=false);
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BayesTree(const BayesNet<Conditional>& bayesNet);
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/** Destructor */
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virtual ~BayesTree() {}
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@ -84,7 +86,7 @@ namespace gtsam {
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bool equals(const BayesTree<Conditional>& other, double tol = 1e-9) const;
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/** insert a new conditional */
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void insert(const boost::shared_ptr<Conditional>& conditional, bool verbose=false);
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void insert(const boost::shared_ptr<Conditional>& conditional);
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/** number of cliques */
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inline size_t size() const { return nodes_.size();}
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@ -92,6 +94,9 @@ namespace gtsam {
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/** return root clique */
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const BayesNet<Conditional>& root() const {return *(nodes_[0]);}
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/** return marginal on any variable */
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boost::shared_ptr<Conditional> marginal(const std::string& key) const;
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}; // BayesTree
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} /// namespace gtsam
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@ -27,10 +27,10 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
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/* ************************************************************************* */
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TEST( BayesTree, Front )
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{
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BayesNet<SymbolicConditional> f1;
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SymbolicBayesNet f1;
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f1.push_back(B);
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f1.push_back(L);
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BayesNet<SymbolicConditional> f2;
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SymbolicBayesNet f2;
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f2.push_back(L);
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f2.push_back(B);
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CHECK(f1.equals(f1));
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@ -68,9 +68,8 @@ TEST( BayesTree, constructor )
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ASIA.push_back(E);
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ASIA.push_back(L);
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ASIA.push_back(B);
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bool verbose = false;
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BayesTree<SymbolicConditional> bayesTree2(ASIA,verbose);
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if (verbose) bayesTree2.print("bayesTree2");
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BayesTree<SymbolicConditional> bayesTree2(ASIA);
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//bayesTree2.print("bayesTree2");
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// Check whether the same
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CHECK(assert_equal(bayesTree,bayesTree2));
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@ -97,7 +96,7 @@ TEST( BayesTree, smoother )
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GaussianBayesNet::shared_ptr chordalBayesNet = smoother.eliminate(ordering);
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// Create the Bayes tree
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet,false);
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet);
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LONGS_EQUAL(6,bayesTree.size());
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}
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@ -108,7 +107,7 @@ TEST( BayesTree, smoother )
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x1 : x2
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x7 : x6
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/* ************************************************************************* */
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TEST( BayesTree, balanced_smoother )
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TEST( BayesTree, balanced_smoother_marginals )
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{
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// Create smoother with 7 nodes
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LinearFactorGraph smoother = createSmoother(7);
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@ -119,8 +118,21 @@ TEST( BayesTree, balanced_smoother )
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GaussianBayesNet::shared_ptr chordalBayesNet = smoother.eliminate(ordering);
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// Create the Bayes tree
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet,false);
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet);
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LONGS_EQUAL(4,bayesTree.size());
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// Check root clique
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//BayesNet<ConditionalGaussian> expected_root;
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//BayesNet<ConditionalGaussian> actual_root = bayesTree.root();
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//CHECK(assert_equal(expected_root,actual_root));
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// Check marginal on x1
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ConditionalGaussian expected;
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ConditionalGaussian::shared_ptr actual = bayesTree.marginal("x1");
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CHECK(assert_equal(expected,*actual));
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// JunctionTree is an undirected tree of cliques
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// JunctionTree<ConditionalGaussian> marginals = bayesTree.marginals();
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}
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/* ************************************************************************* */
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