Moved factor graph error(HybridValues) to FactorGraph base class.

gtsam/hybrid/HybridBayesNet.cpp

@@ -257,29 +257,7 @@ VectorValues HybridBayesNet::optimize(const DiscreteValues &assignment) const {
 
 /* ************************************************************************* */
 double HybridBayesNet::evaluate(const HybridValues &values) const {
-  const DiscreteValues &discreteValues = values.discrete();
-  const VectorValues &continuousValues = values.continuous();
-
-  double error = 0.0, probability = 1.0;
-
-  // Iterate over each conditional.
-  for (auto &&conditional : *this) {
-    // TODO: should be delegated to derived classes.
-    if (auto gm = conditional->asMixture()) {
-      const auto component = (*gm)(discreteValues);
-      error += component->error(continuousValues);
-
-    } else if (auto gc = conditional->asGaussian()) {
-      // If continuous only, evaluate the probability and multiply.
-      error += gc->error(continuousValues);
-
-    } else if (auto dc = conditional->asDiscrete()) {
-      // Conditional is discrete-only, so return its probability.
-      probability *= dc->operator()(discreteValues);
-    }
-  }
-
-  return probability * exp(-error);
+  return exp(-error(values));
 }
 
 /* ************************************************************************* */
@@ -317,12 +295,6 @@ HybridValues HybridBayesNet::sample() const {
   return sample(&kRandomNumberGenerator);
 }
 
-/* ************************************************************************* */
-double HybridBayesNet::error(const HybridValues &values) const {
-  GaussianBayesNet gbn = choose(values.discrete());
-  return gbn.error(values.continuous());
-}
-
 /* ************************************************************************* */
 AlgebraicDecisionTree<Key> HybridBayesNet::error(
     const VectorValues &continuousValues) const {
@@ -332,19 +304,15 @@ AlgebraicDecisionTree<Key> HybridBayesNet::error(
   for (auto &&conditional : *this) {
     if (auto gm = conditional->asMixture()) {
       // If conditional is hybrid, select based on assignment and compute error.
-      AlgebraicDecisionTree<Key> conditional_error =
-          gm->error(continuousValues);
-
-      error_tree = error_tree + conditional_error;
+      error_tree = error_tree + gm->error(continuousValues);
     } else if (auto gc = conditional->asGaussian()) {
-      // If continuous only, get the (double) error
-      // and add it to the error_tree
+      // If continuous, get the (double) error and add it to the error_tree
       double error = gc->error(continuousValues);
       // Add the computed error to every leaf of the error tree.
       error_tree = error_tree.apply(
           [error](double leaf_value) { return leaf_value + error; });
     } else if (auto dc = conditional->asDiscrete()) {
-      // Conditional is discrete-only, we skip.
+      // TODO(dellaert): if discrete, we need to add error in the right branch?
       continue;
     }
   }

gtsam/hybrid/HybridBayesNet.h

@@ -187,14 +187,7 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /// Prune the Hybrid Bayes Net such that we have at most maxNrLeaves leaves.
   HybridBayesNet prune(size_t maxNrLeaves);
 
-  /**
-   * @brief 0.5 * sum of squared Mahalanobis distances
-   * for a specific discrete assignment.
-   *
-   * @param values Continuous values and discrete assignment.
-   * @return double
-   */
-  double error(const HybridValues &values) const;
+  using Base::error; // Expose error(const HybridValues&) method..
 
   /**
    * @brief Compute conditional error for each discrete assignment,

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -463,24 +463,6 @@ AlgebraicDecisionTree<Key> HybridGaussianFactorGraph::error(
   return error_tree;
 }
 
-/* ************************************************************************ */
-double HybridGaussianFactorGraph::error(const HybridValues &values) const {
-  double error = 0.0;
-  for (auto &f : factors_) {
-    if (auto hf = dynamic_pointer_cast<GaussianFactor>(f)) {
-      error += hf->error(values.continuous());
-    } else if (auto hf = dynamic_pointer_cast<HybridFactor>(f)) {
-      // TODO(dellaert): needs to change when we discard other wrappers.
-      error += hf->error(values);
-    } else if (auto dtf = dynamic_pointer_cast<DecisionTreeFactor>(f)) {
-      error -= log((*dtf)(values.discrete()));
-    } else {
-      throwRuntimeError("HybridGaussianFactorGraph::error(HV)", f);
-    }
-  }
-  return error;
-}
-
 /* ************************************************************************ */
 double HybridGaussianFactorGraph::probPrime(const HybridValues &values) const {
   double error = this->error(values);

gtsam/hybrid/HybridGaussianFactorGraph.h

@@ -145,6 +145,8 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   /// @name Standard Interface
   /// @{
 
+  using Base::error; // Expose error(const HybridValues&) method..
+
   /**
    * @brief Compute error for each discrete assignment,
    * and return as a tree.
@@ -156,14 +158,6 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
    */
   AlgebraicDecisionTree<Key> error(const VectorValues& continuousValues) const;
 
-  /**
-   * @brief Compute error given a continuous vector values
-   * and a discrete assignment.
-   *
-   * @return double
-   */
-  double error(const HybridValues& values) const;
-
   /**
    * @brief Compute unnormalized probability \f$ P(X | M, Z) \f$
    * for each discrete assignment, and return as a tree.

gtsam/hybrid/HybridNonlinearFactorGraph.h

@@ -55,12 +55,18 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
       : Base(graph) {}
 
   /// @}
+  /// @name Constructors
+  /// @{
 
   /// Print the factor graph.
   void print(
       const std::string& s = "HybridNonlinearFactorGraph",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
+  /// @}
+  /// @name Standard Interface
+  /// @{
+
   /**
    * @brief Linearize all the continuous factors in the
    * HybridNonlinearFactorGraph.
@@ -70,6 +76,7 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
    */
   HybridGaussianFactorGraph::shared_ptr linearize(
       const Values& continuousValues) const;
+  /// @}
 };
 
 template <>

gtsam/hybrid/tests/testHybridBayesNet.cpp

@@ -212,6 +212,7 @@ TEST(HybridBayesNet, Error) {
 
   HybridBayesNet::shared_ptr hybridBayesNet =
       s.linearizedFactorGraph.eliminateSequential();
+  EXPECT_LONGS_EQUAL(5, hybridBayesNet->size());
 
   HybridValues delta = hybridBayesNet->optimize();
   auto error_tree = hybridBayesNet->error(delta.continuous());
@@ -235,26 +236,21 @@ TEST(HybridBayesNet, Error) {
   EXPECT(assert_equal(expected_pruned_error, pruned_error_tree, 1e-6));
 
   // Verify error computation and check for specific error value
-  DiscreteValues discrete_values{{M(0), 1}, {M(1), 1}};
+  const DiscreteValues discrete_values{{M(0), 1}, {M(1), 1}};
+  const HybridValues hybridValues{delta.continuous(), discrete_values};
+  double error = 0;
+  error += hybridBayesNet->at(0)->asMixture()->error(hybridValues);
+  error += hybridBayesNet->at(1)->asMixture()->error(hybridValues);
+  error += hybridBayesNet->at(2)->asMixture()->error(hybridValues);
 
-  double total_error = 0;
-  for (size_t idx = 0; idx < hybridBayesNet->size(); idx++) {
-    if (hybridBayesNet->at(idx)->isHybrid()) {
-      double error = hybridBayesNet->at(idx)->asMixture()->error(
-          {delta.continuous(), discrete_values});
-      total_error += error;
-    } else if (hybridBayesNet->at(idx)->isContinuous()) {
-      double error =
-          hybridBayesNet->at(idx)->asGaussian()->error(delta.continuous());
-      total_error += error;
-    }
-  }
+  // TODO(dellaert): the discrete errors are not added in error tree!
+  EXPECT_DOUBLES_EQUAL(error, error_tree(discrete_values), 1e-9);
+  EXPECT_DOUBLES_EQUAL(error, pruned_error_tree(discrete_values), 1e-9);
+
+  error += hybridBayesNet->at(3)->asDiscrete()->error(discrete_values);
+  error += hybridBayesNet->at(4)->asDiscrete()->error(discrete_values);
+  EXPECT_DOUBLES_EQUAL(error, hybridBayesNet->error(hybridValues), 1e-9);
 
-  EXPECT_DOUBLES_EQUAL(
-      total_error, hybridBayesNet->error({delta.continuous(), discrete_values}),
-      1e-9);
-  EXPECT_DOUBLES_EQUAL(total_error, error_tree(discrete_values), 1e-9);
-  EXPECT_DOUBLES_EQUAL(total_error, pruned_error_tree(discrete_values), 1e-9);
 }
 
 /* ****************************************************************************/

gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp

@@ -60,12 +60,14 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   Values linearizationPoint;
   linearizationPoint.insert<double>(X(0), 0);
 
+  // Linearize the factor graph.
   HybridGaussianFactorGraph ghfg = *fg.linearize(linearizationPoint);
+  EXPECT_LONGS_EQUAL(1, ghfg.size());
 
-  // Add a factor to the GaussianFactorGraph
-  ghfg.add(JacobianFactor(X(0), I_1x1, Vector1(5)));
-
-  EXPECT_LONGS_EQUAL(2, ghfg.size());
+  // Check that the error is the same for the nonlinear values.
+  const VectorValues zero{{X(0), Vector1(0)}};
+  const HybridValues hybridValues{zero, {}, linearizationPoint};
+  EXPECT_DOUBLES_EQUAL(fg.error(hybridValues), ghfg.error(hybridValues), 1e-9);
 }
 
 /***************************************************************************

gtsam/inference/FactorGraph-inst.h

@@ -61,6 +61,16 @@ bool FactorGraph<FACTOR>::equals(const This& fg, double tol) const {
   return true;
 }
 
+/* ************************************************************************ */
+template <class FACTOR>
+double FactorGraph<FACTOR>::error(const HybridValues &values) const {
+  double error = 0.0;
+  for (auto &f : factors_) {
+    error += f->error(values);
+  }
+  return error;
+}
+
 /* ************************************************************************* */
 template <class FACTOR>
 size_t FactorGraph<FACTOR>::nrFactors() const {

gtsam/inference/FactorGraph.h

@@ -47,6 +47,8 @@ typedef FastVector<FactorIndex> FactorIndices;
 template <class CLIQUE>
 class BayesTree;
 
+class HybridValues;
+
 /** Helper */
 template <class C>
 class CRefCallPushBack {
@@ -359,6 +361,9 @@ class FactorGraph {
   /** Get the last factor */
   sharedFactor back() const { return factors_.back(); }
 
+  /** Add error for all factors. */
+  double error(const HybridValues &values) const;
+
   /// @}
   /// @name Modifying Factor Graphs (imperative, discouraged)
   /// @{

gtsam/linear/GaussianConditional.h

@@ -145,6 +145,8 @@ namespace gtsam {
       return exp(logNormalizationConstant());
     }
 
+    using Base::error; // Expose error(const HybridValues&) method..
+
     /**
      * Calculate error(x) == -log(evaluate()) for given values `x`:
      *  - GaussianFactor::error(x) - 0.5 * n*log(2*pi) - 0.5 * log det(Sigma)