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wrap and notebook

release/4.3a0
Frank Dellaert 2021-12-19 10:20:16 -05:00
parent 46080d7d5a
commit 74951bee33
4 changed files with 188 additions and 7 deletions
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13
gtsam/discrete/discrete.i
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@ -38,7 +38,6 @@ virtual class DecisionTreeFactor: gtsam::DiscreteFactor {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const; bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
double operator()(const gtsam::DiscreteValues& values) const; // TODO(dellaert): why do I have to repeat???
string dot(bool showZero = false) const; string dot(bool showZero = false) const;
}; };
@ -53,8 +52,6 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
DiscreteConditional(const gtsam::DecisionTreeFactor& joint, DiscreteConditional(const gtsam::DecisionTreeFactor& joint,
const gtsam::DecisionTreeFactor& marginal, const gtsam::DecisionTreeFactor& marginal,
const gtsam::Ordering& orderedKeys); const gtsam::Ordering& orderedKeys);
size_t size() const; // TODO(dellaert): why do I have to repeat???
double operator()(const gtsam::DiscreteValues& values) const; // TODO(dellaert): why do I have to repeat???
void print(string s = "Discrete Conditional\n", void print(string s = "Discrete Conditional\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
@ -68,7 +65,6 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
size_t sample(const gtsam::DiscreteValues& parentsValues) const; size_t sample(const gtsam::DiscreteValues& parentsValues) const;
void solveInPlace(gtsam::DiscreteValues@ parentsValues) const; void solveInPlace(gtsam::DiscreteValues@ parentsValues) const;
void sampleInPlace(gtsam::DiscreteValues@ parentsValues) const; void sampleInPlace(gtsam::DiscreteValues@ parentsValues) const;
string dot(bool showZero = false) const;
}; };
#include <gtsam/discrete/DiscreteBayesNet.h> #include <gtsam/discrete/DiscreteBayesNet.h>
@ -84,6 +80,8 @@ class DiscreteBayesNet {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void saveGraph(string s, void saveGraph(string s,
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
@ -91,8 +89,6 @@ class DiscreteBayesNet {
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
gtsam::DiscreteValues optimize() const; gtsam::DiscreteValues optimize() const;
gtsam::DiscreteValues sample() const; gtsam::DiscreteValues sample() const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/discrete/DiscreteBayesTree.h> #include <gtsam/discrete/DiscreteBayesTree.h>
@ -102,6 +98,11 @@ class DiscreteBayesTree {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteBayesTree& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteBayesTree& other, double tol = 1e-9) const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void saveGraph(string s,
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
}; };

2
gtsam/inference/BayesNet.h
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@ -64,7 +64,7 @@ namespace gtsam {
/// @} /// @}
/// @name Standard Interface /// @name Graph Display
/// @{ /// @{
/// Output to graphviz format, stream version. /// Output to graphviz format, stream version.

3
gtsam/inference/BayesTree.h
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@ -182,6 +182,9 @@ namespace gtsam {
*/ */
sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;
/// @name Graph Display
/// @{
/// Output to graphviz format, stream version. /// Output to graphviz format, stream version.
void dot(std::ostream& os, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; void dot(std::ostream& os, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

177
python/gtsam/notebooks/DiscreteBayesTree.ipynb Normal file
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