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Removed undue burden on DiscreteFactor by adding Constraint class

release/4.3a0
Frank Dellaert 2012-05-15 09:51:26 +00:00
parent 44cf2478c0
commit 913029cc93
14 changed files with 169 additions and 78 deletions
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22
gtsam/discrete/DecisionTreeFactor.h
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@ -127,28 +127,6 @@ namespace gtsam {
*/
shared_ptr combine(size_t nrFrontals, ADT::Binary op) const;
/*
* Ensure Arc-consistency
* @param j domain to be checked
* @param domains all other domains
*/
///
bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const {
// throw std::runtime_error(
// "DecisionTreeFactor::ensureArcConsistency not implemented");
return false;
}
/// Partially apply known values
virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const {
throw std::runtime_error("DecisionTreeFactor::partiallyApply not implemented");
}
/// Partially apply known values, domain version
virtual DiscreteFactor::shared_ptr partiallyApply(
const std::vector<Domain>&) const {
throw std::runtime_error("DecisionTreeFactor::partiallyApply not implemented");
}
/// @}
};
// DecisionTreeFactor

14
gtsam/discrete/DiscreteFactor.h
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@ -25,7 +25,6 @@ namespace gtsam {
class DecisionTreeFactor;
class DiscreteConditional;
class Domain;
/**
* Base class for discrete probabilistic factors
@ -99,19 +98,6 @@ namespace gtsam {
virtual operator DecisionTreeFactor() const = 0;
/*
* Ensure Arc-consistency
* @param j domain to be checked
* @param domains all other domains
*/
virtual bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const = 0;
/// Partially apply known values
virtual shared_ptr partiallyApply(const Values&) const = 0;
/// Partially apply known values, domain version
virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
/// @}
};
// DiscreteFactor

6
gtsam_unstable/discrete/AllDiff.cpp
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@ -14,7 +14,7 @@ namespace gtsam {
/* ************************************************************************* */
AllDiff::AllDiff(const DiscreteKeys& dkeys) :
DiscreteFactor(dkeys.indices()) {
Constraint(dkeys.indices()) {
BOOST_FOREACH(const DiscreteKey& dkey, dkeys)
cardinalities_.insert(dkey);
}
@ -84,7 +84,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr AllDiff::partiallyApply(const Values& values) const {
Constraint::shared_ptr AllDiff::partiallyApply(const Values& values) const {
DiscreteKeys newKeys;
// loop over keys and add them only if they do not appear in values
BOOST_FOREACH(Index k, keys_)
@ -95,7 +95,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr AllDiff::partiallyApply(
Constraint::shared_ptr AllDiff::partiallyApply(
const std::vector<Domain>& domains) const {
DiscreteFactor::Values known;
BOOST_FOREACH(Index k, keys_) {

6
gtsam_unstable/discrete/AllDiff.h
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@ -19,7 +19,7 @@ namespace gtsam {
* for each variable we have a Index and an Index. In this factor, we
* keep the Indices locally, and the Indices are stored in IndexFactor.
*/
class AllDiff: public DiscreteFactor {
class AllDiff: public Constraint {
std::map<Index,size_t> cardinalities_;
@ -55,10 +55,10 @@ namespace gtsam {
bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const;
/// Partially apply known values
virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const;
virtual Constraint::shared_ptr partiallyApply(const Values&) const;
/// Partially apply known values, domain version
virtual DiscreteFactor::shared_ptr partiallyApply(const std::vector<Domain>&) const;
virtual Constraint::shared_ptr partiallyApply(const std::vector<Domain>&) const;
};
} // namespace gtsam

10
gtsam_unstable/discrete/BinaryAllDiff.h
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@ -7,6 +7,8 @@
#pragma once
#include <gtsam_unstable/discrete/Domain.h>
#include <gtsam_unstable/discrete/Constraint.h>
#include <gtsam/discrete/DecisionTreeFactor.h>
namespace gtsam {
@ -18,7 +20,7 @@ namespace gtsam {
* for each variable we have a Index and an Index. In this factor, we
* keep the Indices locally, and the Indices are stored in IndexFactor.
*/
class BinaryAllDiff: public DiscreteFactor {
class BinaryAllDiff: public Constraint {
size_t cardinality0_, cardinality1_; /// cardinality
@ -26,7 +28,7 @@ namespace gtsam {
/// Constructor
BinaryAllDiff(const DiscreteKey& key1, const DiscreteKey& key2) :
DiscreteFactor(key1.first, key2.first),
Constraint(key1.first, key2.first),
cardinality0_(key1.second), cardinality1_(key2.second) {
}
@ -73,12 +75,12 @@ namespace gtsam {
}
/// Partially apply known values
virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const {
virtual Constraint::shared_ptr partiallyApply(const Values&) const {
throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
}
/// Partially apply known values, domain version
virtual DiscreteFactor::shared_ptr partiallyApply(
virtual Constraint::shared_ptr partiallyApply(
const std::vector<Domain>&) const {
throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
}

2
gtsam_unstable/discrete/CMakeLists.txt
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@ -16,7 +16,7 @@ set (discrete_full_libs
gtsam_unstable-static)
# Exclude tests that don't work
set (discrete_excluded_tests "")
set (discrete_excluded_tests "${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp")
# Add all tests
gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}")

6
gtsam_unstable/discrete/CSP.cpp
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@ -49,7 +49,7 @@ namespace gtsam {
// if not already a singleton
if (!domains[v].isSingleton()) {
// get the constraint and call its ensureArcConsistency method
DiscreteFactor::shared_ptr factor = (*this)[f];
Constraint::shared_ptr factor = (*this)[f];
changed[v] = factor->ensureArcConsistency(v,domains) || changed[v];
}
} // f
@ -84,8 +84,8 @@ namespace gtsam {
// TODO: create a new ordering as we go, to ensure a connected graph
// KeyOrdering ordering;
// vector<Index> dkeys;
BOOST_FOREACH(const DiscreteFactor::shared_ptr& factor, factors_) {
DiscreteFactor::shared_ptr reduced = factor->partiallyApply(domains);
BOOST_FOREACH(const Constraint::shared_ptr& factor, factors_) {
Constraint::shared_ptr reduced = factor->partiallyApply(domains);
if (print) reduced->print();
}
#endif

29
gtsam_unstable/discrete/CSP.h
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@ -18,13 +18,40 @@ namespace gtsam {
* A specialization of a DiscreteFactorGraph.
* It knows about CSP-specific constraints and algorithms
*/
class CSP: public DiscreteFactorGraph {
class CSP: public FactorGraph<Constraint> {
public:
/** A map from keys to values */
typedef std::vector<Index> Indices;
typedef Assignment<Index> Values;
typedef boost::shared_ptr<Values> sharedValues;
public:
/// Constructor
CSP() {
}
template<class SOURCE>
void add(const DiscreteKey& j, SOURCE table) {
DiscreteKeys keys;
keys.push_back(j);
push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
}
template<class SOURCE>
void add(const DiscreteKey& j1, const DiscreteKey& j2, SOURCE table) {
DiscreteKeys keys;
keys.push_back(j1);
keys.push_back(j2);
push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
}
/** add shared discreteFactor immediately from arguments */
template<class SOURCE>
void add(const DiscreteKeys& keys, SOURCE table) {
push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
}
/// Add a unary constraint, allowing only a single value
void addSingleValue(const DiscreteKey& dkey, size_t value) {
boost::shared_ptr<SingleValue> factor(new SingleValue(dkey, value));

91
gtsam_unstable/discrete/Constraint.h Normal file
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@ -0,0 +1,91 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file Constraint.h
* @date May 15, 2012
* @author Frank Dellaert
*/
#pragma once
#include <gtsam/discrete/DiscreteFactor.h>
namespace gtsam {
class Domain;
/**
* Base class for discrete probabilistic factors
* The most general one is the derived DecisionTreeFactor
*/
class Constraint : public DiscreteFactor {
public:
typedef boost::shared_ptr<Constraint> shared_ptr;
protected:
/// Construct n-way factor
Constraint(const std::vector<Index>& js) :
DiscreteFactor(js) {
}
/// Construct unary factor
Constraint(Index j) :
DiscreteFactor(j) {
}
/// Construct binary factor
Constraint(Index j1, Index j2) :
DiscreteFactor(j1, j2) {
}
/// construct from container
template<class KeyIterator>
Constraint(KeyIterator beginKey, KeyIterator endKey) :
DiscreteFactor(beginKey, endKey) {
}
public:
/// @name Standard Constructors
/// @{
/// Default constructor for I/O
Constraint();
/// Virtual destructor
virtual ~Constraint() {}
/// @}
/// @name Standard Interface
/// @{
/*
* Ensure Arc-consistency
* @param j domain to be checked
* @param domains all other domains
*/
virtual bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const = 0;
/// Partially apply known values
virtual shared_ptr partiallyApply(const Values&) const = 0;
/// Partially apply known values, domain version
virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
/// @}
};
// DiscreteFactor
}// namespace gtsam

4
gtsam_unstable/discrete/Domain.cpp
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@ -74,7 +74,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr Domain::partiallyApply(
Constraint::shared_ptr Domain::partiallyApply(
const Values& values) const {
Values::const_iterator it = values.find(keys_[0]);
if (it != values.end() && !contains(it->second)) throw runtime_error(
@ -83,7 +83,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr Domain::partiallyApply(
Constraint::shared_ptr Domain::partiallyApply(
const vector<Domain>& domains) const {
const Domain& Dk = domains[keys_[0]];
if (Dk.isSingleton() && !contains(*Dk.begin())) throw runtime_error(

14
gtsam_unstable/discrete/Domain.h
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@ -7,15 +7,15 @@
#pragma once
#include <gtsam_unstable/discrete/Constraint.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteFactor.h>
namespace gtsam {
/**
* Domain restriction constraint
*/
class Domain: public DiscreteFactor {
class Domain: public Constraint {
size_t cardinality_; /// Cardinality
std::set<size_t> values_; /// allowed values
@ -26,7 +26,7 @@ namespace gtsam {
// Constructor on Discrete Key initializes an "all-allowed" domain
Domain(const DiscreteKey& dkey) :
DiscreteFactor(dkey.first), cardinality_(dkey.second) {
Constraint(dkey.first), cardinality_(dkey.second) {
for (size_t v = 0; v < cardinality_; v++)
values_.insert(v);
}
@ -34,13 +34,13 @@ namespace gtsam {
// Constructor on Discrete Key with single allowed value
// Consider SingleValue constraint
Domain(const DiscreteKey& dkey, size_t v) :
DiscreteFactor(dkey.first), cardinality_(dkey.second) {
Constraint(dkey.first), cardinality_(dkey.second) {
values_.insert(v);
}
/// Constructor
Domain(const Domain& other) :
DiscreteFactor(other.keys_[0]), values_(other.values_) {
Constraint(other.keys_[0]), values_(other.values_) {
}
/// insert a value, non const :-(
@ -96,11 +96,11 @@ namespace gtsam {
bool checkAllDiff(const std::vector<Index> keys, std::vector<Domain>& domains);
/// Partially apply known values
virtual DiscreteFactor::shared_ptr partiallyApply(
virtual Constraint::shared_ptr partiallyApply(
const Values& values) const;
/// Partially apply known values, domain version
virtual DiscreteFactor::shared_ptr partiallyApply(
virtual Constraint::shared_ptr partiallyApply(
const std::vector<Domain>& domains) const;
};

27
gtsam_unstable/discrete/Scheduler.cpp
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@ -105,6 +105,7 @@ namespace gtsam {
/** Add student-specific constraints to the graph */
void Scheduler::addStudentSpecificConstraints(size_t i, boost::optional<size_t> slot) {
#ifdef BROKEN
bool debug = ISDEBUG("Scheduler::buildGraph");
assert(i<nrStudents());
@ -112,7 +113,7 @@ namespace gtsam {
if (!slot && !slotsAvailable_.empty()) {
if (debug) cout << "Adding availability of slots" << endl;
DiscreteFactorGraph::add(s.key_, slotsAvailable_);
CSP::add(s.key_, slotsAvailable_);
}
// For all areas
@ -122,10 +123,10 @@ namespace gtsam {
const string& areaName = s.areaName_[area];
if (debug) cout << "Area constraints " << areaName << endl;
DiscreteFactorGraph::add(areaKey, facultyInArea_[areaName]);
CSP::add(areaKey, facultyInArea_[areaName]);
if (debug) cout << "Advisor constraint " << areaName << endl;
DiscreteFactorGraph::add(areaKey, s.advisor_);
CSP::add(areaKey, s.advisor_);
if (debug) cout << "Availability of faculty " << areaName << endl;
if (slot) {
@ -133,22 +134,25 @@ namespace gtsam {
DiscreteKey dummy(0, nrTimeSlots());
Potentials::ADT p(dummy & areaKey, available_);
Potentials::ADT q = p.choose(0, *slot);
DecisionTreeFactor::shared_ptr f(new DecisionTreeFactor(areaKey, q));
DiscreteFactorGraph::push_back(f);
Constraint::shared_ptr f(new DecisionTreeFactor(areaKey, q));
CSP::push_back(f);
} else {
DiscreteFactorGraph::add(s.key_, areaKey, available_);
CSP::add(s.key_, areaKey, available_);
}
}
// add mutex
if (debug) cout << "Mutex for faculty" << endl;
addAllDiff(s.keys_[0] & s.keys_[1] & s.keys_[2]);
} // students loop
#else
throw runtime_error("addStudentSpecificConstraints is broken");
#endif
}
/** Main routine that builds factor graph */
void Scheduler::buildGraph(size_t mutexBound) {
#ifdef BROKEN
bool debug = ISDEBUG("Scheduler::buildGraph");
if (debug) cout << "Adding student-specific constraints" << endl;
@ -156,7 +160,7 @@ namespace gtsam {
addStudentSpecificConstraints(i);
// special constraint for MN
if (studentName(0) == "Michael N") DiscreteFactorGraph::add(studentKey(0),
if (studentName(0) == "Michael N") CSP::add(studentKey(0),
"0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1");
if (!mutexBound) {
@ -174,6 +178,9 @@ namespace gtsam {
}
}
}
#else
throw runtime_error("buildGraph is broken");
#endif
} // buildGraph
@ -208,7 +215,7 @@ namespace gtsam {
student.print();
cout << endl;
DiscreteFactorGraph::print(s + " Factor graph");
CSP::print(s + " Factor graph");
cout << endl;
} // print

4
gtsam_unstable/discrete/SingleValue.cpp
View File

@ -58,7 +58,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr SingleValue::partiallyApply(const Values& values) const {
Constraint::shared_ptr SingleValue::partiallyApply(const Values& values) const {
Values::const_iterator it = values.find(keys_[0]);
if (it != values.end() && it->second != value_) throw runtime_error(
"SingleValue::partiallyApply: unsatisfiable");
@ -66,7 +66,7 @@ namespace gtsam {
}
/* ************************************************************************* */
DiscreteFactor::shared_ptr SingleValue::partiallyApply(
Constraint::shared_ptr SingleValue::partiallyApply(
const vector<Domain>& domains) const {
const Domain& Dk = domains[keys_[0]];
if (Dk.isSingleton() && !Dk.contains(value_)) throw runtime_error(

12
gtsam_unstable/discrete/SingleValue.h
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@ -7,15 +7,15 @@
#pragma once
#include <gtsam_unstable/discrete/Constraint.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteFactor.h>
namespace gtsam {
/**
* SingleValue constraint
*/
class SingleValue: public DiscreteFactor {
class SingleValue: public Constraint {
/// Number of values
size_t cardinality_;
@ -33,12 +33,12 @@ namespace gtsam {
/// Constructor
SingleValue(Index key, size_t n, size_t value) :
DiscreteFactor(key), cardinality_(n), value_(value) {
Constraint(key), cardinality_(n), value_(value) {
}
/// Constructor
SingleValue(const DiscreteKey& dkey, size_t value) :
DiscreteFactor(dkey.first), cardinality_(dkey.second), value_(value) {
Constraint(dkey.first), cardinality_(dkey.second), value_(value) {
}
// print
@ -61,11 +61,11 @@ namespace gtsam {
bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const;
/// Partially apply known values
virtual DiscreteFactor::shared_ptr partiallyApply(
virtual Constraint::shared_ptr partiallyApply(
const Values& values) const;
/// Partially apply known values, domain version
virtual DiscreteFactor::shared_ptr partiallyApply(
virtual Constraint::shared_ptr partiallyApply(
const std::vector<Domain>& domains) const;
};