Merge pull request #1066 from borglab/feature/sumProduct

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -144,6 +144,22 @@ namespace gtsam {
         boost::dynamic_pointer_cast<DiscreteConditional>(lookup), max);
   }
 
+  /* ************************************************************************ */
+  // sumProduct is just an alias for regular eliminateSequential.
+  DiscreteBayesNet DiscreteFactorGraph::sumProduct(
+      OptionalOrderingType orderingType) const {
+    gttic(DiscreteFactorGraph_sumProduct);
+    auto bayesNet = eliminateSequential(orderingType);
+    return *bayesNet;
+  }
+
+  DiscreteBayesNet DiscreteFactorGraph::sumProduct(
+      const Ordering& ordering) const {
+    gttic(DiscreteFactorGraph_sumProduct);
+    auto bayesNet = eliminateSequential(ordering);
+    return *bayesNet;
+  }
+
   /* ************************************************************************ */
   // The max-product solution below is a bit clunky: the elimination machinery
   // does not allow for differently *typed* versions of elimination, so we
@@ -153,16 +169,14 @@ namespace gtsam {
   DiscreteLookupDAG DiscreteFactorGraph::maxProduct(
       OptionalOrderingType orderingType) const {
     gttic(DiscreteFactorGraph_maxProduct);
-    auto bayesNet =
-        BaseEliminateable::eliminateSequential(orderingType, EliminateForMPE);
+    auto bayesNet = eliminateSequential(orderingType, EliminateForMPE);
     return DiscreteLookupDAG::FromBayesNet(*bayesNet);
   }
 
   DiscreteLookupDAG DiscreteFactorGraph::maxProduct(
       const Ordering& ordering) const {
     gttic(DiscreteFactorGraph_maxProduct);
-    auto bayesNet =
-        BaseEliminateable::eliminateSequential(ordering, EliminateForMPE);
+    auto bayesNet = eliminateSequential(ordering, EliminateForMPE);
     return DiscreteLookupDAG::FromBayesNet(*bayesNet);
   }
 

gtsam/discrete/DiscreteFactorGraph.h

@@ -132,11 +132,28 @@ class GTSAM_EXPORT DiscreteFactorGraph
       const std::string& s = "DiscreteFactorGraph",
       const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
+  /**
+   * @brief Implement the sum-product algorithm
+   *
+   * @param orderingType : one of COLAMD, METIS, NATURAL, CUSTOM
+   * @return DiscreteBayesNet encoding posterior P(X|Z)
+   */
+  DiscreteBayesNet sumProduct(
+      OptionalOrderingType orderingType = boost::none) const;
+
+  /**
+   * @brief Implement the sum-product algorithm
+   *
+   * @param ordering
+   * @return DiscreteBayesNet encoding posterior P(X|Z)
+   */
+  DiscreteBayesNet sumProduct(const Ordering& ordering) const;
+
   /**
    * @brief Implement the max-product algorithm
    *
    * @param orderingType : one of COLAMD, METIS, NATURAL, CUSTOM
-   * @return DiscreteLookupDAG::shared_ptr DAG with lookup tables
+   * @return DiscreteLookupDAG DAG with lookup tables
    */
   DiscreteLookupDAG maxProduct(
       OptionalOrderingType orderingType = boost::none) const;
@@ -145,7 +162,7 @@ class GTSAM_EXPORT DiscreteFactorGraph
    * @brief Implement the max-product algorithm
    *
    * @param ordering
-   * @return DiscreteLookupDAG::shared_ptr `DAG with lookup tables
+   * @return DiscreteLookupDAG `DAG with lookup tables
    */
   DiscreteLookupDAG maxProduct(const Ordering& ordering) const;
 

gtsam/discrete/discrete.i

@@ -277,7 +277,12 @@ class DiscreteFactorGraph {
   double operator()(const gtsam::DiscreteValues& values) const;
   gtsam::DiscreteValues optimize() const;
 
+  gtsam::DiscreteBayesNet sumProduct();
+  gtsam::DiscreteBayesNet sumProduct(gtsam::Ordering::OrderingType type);
+  gtsam::DiscreteBayesNet sumProduct(const gtsam::Ordering& ordering);
+
   gtsam::DiscreteLookupDAG maxProduct();
+  gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
   gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);
 
   gtsam::DiscreteBayesNet eliminateSequential();

gtsam/discrete/tests/testDiscreteFactorGraph.cpp

@@ -154,6 +154,21 @@ TEST(DiscreteFactorGraph, test) {
   auto actualMPE = graph.optimize();
   EXPECT(assert_equal(mpe, actualMPE));
   EXPECT_DOUBLES_EQUAL(9, graph(mpe), 1e-5);  // regression
+
+  // Test sumProduct alias with all orderings:
+  auto mpeProbability = expectedBayesNet(mpe);
+  EXPECT_DOUBLES_EQUAL(0.28125, mpeProbability, 1e-5);  // regression
+
+  // Using custom ordering
+  DiscreteBayesNet bayesNet = graph.sumProduct(ordering);
+  EXPECT_DOUBLES_EQUAL(mpeProbability, bayesNet(mpe), 1e-5);
+
+  for (Ordering::OrderingType orderingType :
+       {Ordering::COLAMD, Ordering::METIS, Ordering::NATURAL,
+        Ordering::CUSTOM}) {
+    auto bayesNet = graph.sumProduct(orderingType);
+    EXPECT_DOUBLES_EQUAL(mpeProbability, bayesNet(mpe), 1e-5);
+  }
 }
 
 /* ************************************************************************* */

gtsam/nonlinear/nonlinear.i

@@ -111,6 +111,11 @@ size_t mrsymbolIndex(size_t key);
 
 #include <gtsam/inference/Ordering.h>
 class Ordering {
+  /// Type of ordering to use
+  enum OrderingType {
+    COLAMD, METIS, NATURAL, CUSTOM
+  };
+
   // Standard Constructors and Named Constructors
   Ordering();
   Ordering(const gtsam::Ordering& other);

python/gtsam/tests/test_DiscreteFactorGraph.py

@@ -13,9 +13,11 @@ Author: Frank Dellaert
 
 import unittest
 
-from gtsam import DiscreteFactorGraph, DiscreteKeys, DiscreteValues
+from gtsam import DiscreteFactorGraph, DiscreteKeys, DiscreteValues, Ordering
 from gtsam.utils.test_case import GtsamTestCase
 
+OrderingType = Ordering.OrderingType
+
 
 class TestDiscreteFactorGraph(GtsamTestCase):
     """Tests for Discrete Factor Graphs."""
@@ -108,14 +110,50 @@ class TestDiscreteFactorGraph(GtsamTestCase):
         graph.add([C, A], "0.2 0.8 0.3 0.7")
         graph.add([C, B], "0.1 0.9 0.4 0.6")
 
-        actualMPE = graph.optimize()
+        # We know MPE
+        mpe = DiscreteValues()
+        mpe[0] = 0
+        mpe[1] = 1
+        mpe[2] = 1
 
-        expectedMPE = DiscreteValues()
-        expectedMPE[0] = 0
-        expectedMPE[1] = 1
-        expectedMPE[2] = 1
+        # Use maxProduct
+        dag = graph.maxProduct(OrderingType.COLAMD)
+        actualMPE = dag.argmax()
         self.assertEqual(list(actualMPE.items()),
-                         list(expectedMPE.items()))
+                         list(mpe.items()))
+
+        # All in one
+        actualMPE2 = graph.optimize()
+        self.assertEqual(list(actualMPE2.items()),
+                         list(mpe.items()))
+
+    def test_sumProduct(self):
+        """Test sumProduct."""
+
+        # Declare a bunch of keys
+        C, A, B = (0, 2), (1, 2), (2, 2)
+
+        # Create Factor graph
+        graph = DiscreteFactorGraph()
+        graph.add([C, A], "0.2 0.8 0.3 0.7")
+        graph.add([C, B], "0.1 0.9 0.4 0.6")
+
+        # We know MPE
+        mpe = DiscreteValues()
+        mpe[0] = 0
+        mpe[1] = 1
+        mpe[2] = 1
+
+        # Use default sumProduct
+        bayesNet = graph.sumProduct()
+        mpeProbability = bayesNet(mpe)
+        self.assertAlmostEqual(mpeProbability, 0.36)  # regression
+
+        # Use sumProduct
+        for ordering_type in [OrderingType.COLAMD, OrderingType.METIS, OrderingType.NATURAL,
+                              OrderingType.CUSTOM]:
+            bayesNet = graph.sumProduct(ordering_type)
+            self.assertEqual(bayesNet(mpe), mpeProbability)
 
 
 if __name__ == "__main__":