diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index 5abc094fb..1bca5078c 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -235,7 +235,10 @@ DecisionTreeFactor::shared_ptr DiscreteConditional::likelihood( } /* ************************************************************************** */ -size_t DiscreteConditional::argmax() const { +size_t DiscreteConditional::argmax(const DiscreteValues& parentsValues) const { + ADT pFS = choose(parentsValues, true); // P(F|S=parentsValues) + + // Initialize size_t maxValue = 0; double maxP = 0; assert(nrFrontals() == 1); @@ -254,6 +257,33 @@ size_t DiscreteConditional::argmax() const { return maxValue; } +/* ************************************************************************** */ +void DiscreteConditional::argmaxInPlace(DiscreteValues* values) const { + ADT pFS = choose(*values, true); // P(F|S=parentsValues) + + // Initialize + DiscreteValues mpe; + double maxP = 0; + + // Get all Possible Configurations + const auto allPosbValues = frontalAssignments(); + + // Find the maximum + for (const auto& frontalVals : allPosbValues) { + double pValueS = pFS(frontalVals); // P(F=value|S=parentsValues) + // Update maximum solution if better + if (pValueS > maxP) { + maxP = pValueS; + mpe = frontalVals; + } + } + + // set values (inPlace) to maximum + for (Key j : frontals()) { + (*values)[j] = mpe[j]; + } +} + /* ************************************************************************** */ void DiscreteConditional::sampleInPlace(DiscreteValues* values) const { assert(nrFrontals() == 1); @@ -459,7 +489,7 @@ string DiscreteConditional::html(const KeyFormatter& keyFormatter, } /* ************************************************************************* */ -double DiscreteConditional::evaluate(const HybridValues& x) const{ +double DiscreteConditional::evaluate(const HybridValues& x) const { return this->evaluate(x.discrete()); } /* ************************************************************************* */ diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 50fa6e161..bc50e1301 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -18,9 +18,9 @@ #pragma once -#include #include #include +#include #include #include @@ -39,7 +39,7 @@ class GTSAM_EXPORT DiscreteConditional public Conditional { public: // typedefs needed to play nice with gtsam - typedef DiscreteConditional This; ///< Typedef to this class + typedef DiscreteConditional This; ///< Typedef to this class typedef std::shared_ptr shared_ptr; ///< shared_ptr to this class typedef DecisionTreeFactor BaseFactor; ///< Typedef to our factor base class typedef Conditional @@ -159,9 +159,7 @@ class GTSAM_EXPORT DiscreteConditional /// @{ /// Log-probability is just -error(x). - double logProbability(const DiscreteValues& x) const { - return -error(x); - } + double logProbability(const DiscreteValues& x) const { return -error(x); } /// print index signature only void printSignature( @@ -214,11 +212,18 @@ class GTSAM_EXPORT DiscreteConditional size_t sample() const; /** - * @brief Return assignment that maximizes distribution. - * @return Optimal assignment (1 frontal variable). + * @brief Return assignment for single frontal variable that maximizes value. + * @param parentsValues Known assignments for the parents. + * @return maximizing assignment for the frontal variable. */ size_t argmax() const; + /** + * @brief Calculate assignment for frontal variables that maximizes value. + * @param (in/out) parentsValues Known assignments for the parents. + */ + void argmaxInPlace(DiscreteValues* parentsValues) const; + /// @} /// @name Advanced Interface /// @{ @@ -244,7 +249,6 @@ class GTSAM_EXPORT DiscreteConditional std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter, const Names& names = {}) const override; - /// @} /// @name HybridValues methods. /// @{ diff --git a/gtsam/discrete/DiscreteLookupDAG.cpp b/gtsam/discrete/DiscreteLookupDAG.cpp index ab62055ed..11900b502 100644 --- a/gtsam/discrete/DiscreteLookupDAG.cpp +++ b/gtsam/discrete/DiscreteLookupDAG.cpp @@ -29,97 +29,20 @@ using std::vector; namespace gtsam { -/* ************************************************************************** */ -// TODO(dellaert): copy/paste from DiscreteConditional.cpp :-( -void DiscreteLookupTable::print(const std::string& s, - const KeyFormatter& formatter) const { - using std::cout; - using std::endl; - - cout << s << " g( "; - for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) { - cout << formatter(*it) << " "; - } - if (nrParents()) { - cout << "; "; - for (const_iterator it = beginParents(); it != endParents(); ++it) { - cout << formatter(*it) << " "; - } - } - cout << "):\n"; - ADT::print("", formatter); - cout << endl; -} - -/* ************************************************************************** */ -void DiscreteLookupTable::argmaxInPlace(DiscreteValues* values) const { - ADT pFS = choose(*values, true); // P(F|S=parentsValues) - - // Initialize - DiscreteValues mpe; - double maxP = 0; - - // Get all Possible Configurations - const auto allPosbValues = frontalAssignments(); - - // Find the maximum - for (const auto& frontalVals : allPosbValues) { - double pValueS = pFS(frontalVals); // P(F=value|S=parentsValues) - // Update maximum solution if better - if (pValueS > maxP) { - maxP = pValueS; - mpe = frontalVals; - } - } - - // set values (inPlace) to maximum - for (Key j : frontals()) { - (*values)[j] = mpe[j]; - } -} - -/* ************************************************************************** */ -size_t DiscreteLookupTable::argmax(const DiscreteValues& parentsValues) const { - ADT pFS = choose(parentsValues, true); // P(F|S=parentsValues) - - // Then, find the max over all remaining - // TODO(Duy): only works for one key now, seems horribly slow this way - size_t mpe = 0; - double maxP = 0; - DiscreteValues frontals; - assert(nrFrontals() == 1); - Key j = (firstFrontalKey()); - for (size_t value = 0; value < cardinality(j); value++) { - frontals[j] = value; - double pValueS = pFS(frontals); // P(F=value|S=parentsValues) - // Update MPE solution if better - if (pValueS > maxP) { - maxP = pValueS; - mpe = value; - } - } - return mpe; -} - /* ************************************************************************** */ DiscreteLookupDAG DiscreteLookupDAG::FromBayesNet( const DiscreteBayesNet& bayesNet) { DiscreteLookupDAG dag; for (auto&& conditional : bayesNet) { - if (auto lookupTable = - std::dynamic_pointer_cast(conditional)) { - dag.push_back(lookupTable); - } else { - throw std::runtime_error( - "DiscreteFactorGraph::maxProduct: Expected look up table."); - } + dag.push_back(conditional); } return dag; } DiscreteValues DiscreteLookupDAG::argmax(DiscreteValues result) const { // Argmax each node in turn in topological sort order (parents first). - for (auto it = std::make_reverse_iterator(end()); it != std::make_reverse_iterator(begin()); ++it) { + for (auto it = std::make_reverse_iterator(end()); + it != std::make_reverse_iterator(begin()); ++it) { // dereference to get the sharedFactor to the lookup table (*it)->argmaxInPlace(&result); } diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h index f077a13d9..3b0a5770d 100644 --- a/gtsam/discrete/DiscreteLookupDAG.h +++ b/gtsam/discrete/DiscreteLookupDAG.h @@ -37,41 +37,9 @@ class DiscreteBayesNet; * Inherits from discrete conditional for convenience, but is not normalized. * Is used in the max-product algorithm. */ -class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional { - public: - using This = DiscreteLookupTable; - using shared_ptr = std::shared_ptr; - using BaseConditional = Conditional; - - /** - * @brief Construct a new Discrete Lookup Table object - * - * @param nFrontals number of frontal variables - * @param keys a sorted list of gtsam::Keys - * @param potentials the algebraic decision tree with lookup values - */ - DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys, - const ADT& potentials) - : DiscreteConditional(nFrontals, keys, potentials) {} - - /// GTSAM-style print - void print( - const std::string& s = "Discrete Lookup Table: ", - const KeyFormatter& formatter = DefaultKeyFormatter) const override; - - /** - * @brief return assignment for single frontal variable that maximizes value. - * @param parentsValues Known assignments for the parents. - * @return maximizing assignment for the frontal variable. - */ - size_t argmax(const DiscreteValues& parentsValues) const; - - /** - * @brief Calculate assignment for frontal variables that maximizes value. - * @param (in/out) parentsValues Known assignments for the parents. - */ - void argmaxInPlace(DiscreteValues* parentsValues) const; -}; +// Typedef for backwards compatibility +// TODO(Varun): Remove +using DiscreteLookupTable = DiscreteConditional; /** A DAG made from lookup tables, as defined above. */ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet {