Merge pull request #1594 from borglab/ordering
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621ef2e7c5
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@ -77,6 +77,18 @@ class GTSAM_EXPORT DiscreteConditional
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const Signature::Table& table)
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: DiscreteConditional(Signature(key, parents, table)) {}
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/**
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* Construct from key, parents, and a vector<double> specifying the
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* conditional probability table (CPT) in 00 01 10 11 order. For
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* three-valued, it would be 00 01 02 10 11 12 20 21 22, etc....
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*
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* Example: DiscreteConditional P(D, {B,E}, table);
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*/
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DiscreteConditional(const DiscreteKey& key, const DiscreteKeys& parents,
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const std::vector<double>& table)
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: DiscreteConditional(1, DiscreteKeys{key} & parents,
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ADT(DiscreteKeys{key} & parents, table)) {}
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/**
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* Construct from key, parents, and a string specifying the conditional
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* probability table (CPT) in 00 01 10 11 order. For three-valued, it would
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@ -74,6 +74,12 @@ namespace gtsam {
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return *this;
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}
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/// Add multiple keys (non-const!)
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DiscreteKeys& operator&(const DiscreteKeys& keys) {
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this->insert(this->end(), keys.begin(), keys.end());
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return *this;
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}
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/// Print the keys and cardinalities.
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void print(const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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@ -46,6 +46,11 @@ TEST(DiscreteConditional, constructors) {
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DiscreteConditional actual2(1, f2);
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DecisionTreeFactor expected2 = f2 / *f2.sum(1);
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EXPECT(assert_equal(expected2, static_cast<DecisionTreeFactor>(actual2)));
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std::vector<double> probs{0.2, 0.5, 0.3, 0.6, 0.4, 0.7, 0.25, 0.55, 0.35, 0.65, 0.45, 0.75};
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DiscreteConditional actual3(X, {Y, Z}, probs);
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DecisionTreeFactor expected3 = f2;
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EXPECT(assert_equal(expected3, static_cast<DecisionTreeFactor>(actual3)));
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}
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/* ************************************************************************* */
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@ -219,6 +219,11 @@ TEST(Ordering, AppendVector) {
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Ordering expected{X(0), X(1), X(2)};
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EXPECT(assert_equal(expected, actual));
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actual = Ordering();
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Ordering addl{X(0), X(1), X(2)};
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actual += addl;
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EXPECT(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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@ -86,7 +86,10 @@ class NonlinearFactorGraph {
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const gtsam::noiseModel::Base* noiseModel);
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// NonlinearFactorGraph
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void printErrors(const gtsam::Values& values) const;
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void printErrors(const gtsam::Values& values,
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const string& str = "NonlinearFactorGraph: ",
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const gtsam::KeyFormatter& keyFormatter =
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gtsam::DefaultKeyFormatter) const;
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double error(const gtsam::Values& values) const;
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double probPrime(const gtsam::Values& values) const;
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gtsam::Ordering orderingCOLAMD() const;
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