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Fixed BayesTree joint marginals for the case of joints across disjoint trees in a forest

release/4.3a0
Richard Roberts 2013-08-16 21:24:34 +00:00
parent ce9e9b4a91
commit 5dcfa04eb1
1 changed files with 62 additions and 50 deletions
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112
gtsam/inference/BayesTree-inst.h
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@ -321,60 +321,72 @@ namespace gtsam {
++p2; ++p2;
} }
} }
if(!B)
throw std::invalid_argument("BayesTree::jointBayesNet does not yet work for joints across a forest");
gttoc(Lowest_common_ancestor); gttoc(Lowest_common_ancestor);
// Compute marginal on lowest common ancestor clique
gttic(LCA_marginal);
FactorGraphType p_B = B->marginal2(function);
gttoc(LCA_marginal);
// Compute shortcuts of the requested cliques given the lowest common ancestor
gttic(Clique_shortcuts);
BayesNetType p_C1_Bred = C1->shortcut(B, function);
BayesNetType p_C2_Bred = C2->shortcut(B, function);
gttoc(Clique_shortcuts);
// Factor the shortcuts to be conditioned on the full root
// Get the set of variables to eliminate, which is C1\B.
gttic(Full_root_factoring);
boost::shared_ptr<typename EliminationTraitsType::BayesTreeType> p_C1_B; {
FastVector<Index> C1_minus_B; {
FastSet<Index> C1_minus_B_set(C1->conditional()->beginParents(), C1->conditional()->endParents());
BOOST_FOREACH(const Index j, *B->conditional()) {
C1_minus_B_set.erase(j); }
C1_minus_B.assign(C1_minus_B_set.begin(), C1_minus_B_set.end());
}
// Factor into C1\B | B.
sharedFactorGraph temp_remaining;
boost::tie(p_C1_B, temp_remaining) =
FactorGraphType(p_C1_Bred).eliminatePartialMultifrontal(Ordering(C1_minus_B), function);
}
boost::shared_ptr<typename EliminationTraitsType::BayesTreeType> p_C2_B; {
FastVector<Index> C2_minus_B; {
FastSet<Index> C2_minus_B_set(C2->conditional()->beginParents(), C2->conditional()->endParents());
BOOST_FOREACH(const Index j, *B->conditional()) {
C2_minus_B_set.erase(j); }
C2_minus_B.assign(C2_minus_B_set.begin(), C2_minus_B_set.end());
}
// Factor into C2\B | B.
sharedFactorGraph temp_remaining;
boost::tie(p_C2_B, temp_remaining) =
FactorGraphType(p_C2_Bred).eliminatePartialMultifrontal(Ordering(C2_minus_B), function);
}
gttoc(Full_root_factoring);
gttic(Variable_joint);
// Build joint on all involved variables // Build joint on all involved variables
FactorGraphType p_BC1C2; FactorGraphType p_BC1C2;
p_BC1C2 += p_B;
p_BC1C2 += *p_C1_B; if(B)
p_BC1C2 += *p_C2_B; {
if(C1 != B) // Compute marginal on lowest common ancestor clique
p_BC1C2 += C1->conditional(); gttic(LCA_marginal);
if(C2 != B) FactorGraphType p_B = B->marginal2(function);
p_BC1C2 += C2->conditional(); gttoc(LCA_marginal);
// Compute shortcuts of the requested cliques given the lowest common ancestor
gttic(Clique_shortcuts);
BayesNetType p_C1_Bred = C1->shortcut(B, function);
BayesNetType p_C2_Bred = C2->shortcut(B, function);
gttoc(Clique_shortcuts);
// Factor the shortcuts to be conditioned on the full root
// Get the set of variables to eliminate, which is C1\B.
gttic(Full_root_factoring);
boost::shared_ptr<typename EliminationTraitsType::BayesTreeType> p_C1_B; {
FastVector<Index> C1_minus_B; {
FastSet<Index> C1_minus_B_set(C1->conditional()->beginParents(), C1->conditional()->endParents());
BOOST_FOREACH(const Index j, *B->conditional()) {
C1_minus_B_set.erase(j); }
C1_minus_B.assign(C1_minus_B_set.begin(), C1_minus_B_set.end());
}
// Factor into C1\B | B.
sharedFactorGraph temp_remaining;
boost::tie(p_C1_B, temp_remaining) =
FactorGraphType(p_C1_Bred).eliminatePartialMultifrontal(Ordering(C1_minus_B), function);
}
boost::shared_ptr<typename EliminationTraitsType::BayesTreeType> p_C2_B; {
FastVector<Index> C2_minus_B; {
FastSet<Index> C2_minus_B_set(C2->conditional()->beginParents(), C2->conditional()->endParents());
BOOST_FOREACH(const Index j, *B->conditional()) {
C2_minus_B_set.erase(j); }
C2_minus_B.assign(C2_minus_B_set.begin(), C2_minus_B_set.end());
}
// Factor into C2\B | B.
sharedFactorGraph temp_remaining;
boost::tie(p_C2_B, temp_remaining) =
FactorGraphType(p_C2_Bred).eliminatePartialMultifrontal(Ordering(C2_minus_B), function);
}
gttoc(Full_root_factoring);
gttic(Variable_joint);
p_BC1C2 += p_B;
p_BC1C2 += *p_C1_B;
p_BC1C2 += *p_C2_B;
if(C1 != B)
p_BC1C2 += C1->conditional();
if(C2 != B)
p_BC1C2 += C2->conditional();
gttoc(Variable_joint);
}
else
{
// The nodes have no common ancestor, they're in different trees, so they're joint is just the
// product of their marginals.
gttic(Disjoint_marginals);
p_BC1C2 += C1->marginal2(function);
p_BC1C2 += C2->marginal2(function);
gttoc(Disjoint_marginals);
}
// now, marginalize out everything that is not variable j1 or j2 // now, marginalize out everything that is not variable j1 or j2
return p_BC1C2.marginalMultifrontalBayesNet(Ordering(cref_list_of<2,Key>(j1)(j2)), boost::none, function); return p_BC1C2.marginalMultifrontalBayesNet(Ordering(cref_list_of<2,Key>(j1)(j2)), boost::none, function);