implement a min-heap to record the top N probabilities for pruning

gtsam/discrete/DecisionTreeFactor.cpp

@@ -349,13 +349,67 @@ namespace gtsam {
       : DiscreteFactor(keys.indices(), keys.cardinalities()),
         AlgebraicDecisionTree<Key>(keys, table) {}
 
+  /**
+   * @brief Min-Heap class to help with pruning.
+   * The `top` element is always the smallest value.
+   */
+  class MinHeap {
+    std::vector<double> v_;
+
+   public:
+    /// Default constructor
+    MinHeap() {}
+
+    /// Push value onto the heap
+    void push(double x) {
+      v_.push_back(x);
+      std::make_heap(v_.begin(), v_.end(), std::greater<double>{});
+    }
+
+    /// Push value `x`, `n` number of times.
+    void push(double x, size_t n) {
+      v_.insert(v_.end(), n, x);
+      std::make_heap(v_.begin(), v_.end(), std::greater<double>{});
+    }
+
+    /// Pop the top value of the heap.
+    double pop() {
+      std::pop_heap(v_.begin(), v_.end(), std::greater<double>{});
+      double x = v_.back();
+      v_.pop_back();
+      return x;
+    }
+
+    /// Return the top value of the heap without popping it.
+    double top() { return v_.at(0); }
+
+    /**
+     * @brief Print the heap as a sequence.
+     *
+     * @param s A string to prologue the output.
+     */
+    void print(const std::string& s = "") {
+      std::cout << (s.empty() ? "" : s + " ");
+      for (size_t i = 0; i < v_.size() - 1; i++) {
+        std::cout << v_.at(i) << ",";
+      }
+      std::cout << v_.at(v_.size() - 1) << std::endl;
+    }
+
+    /// Return true if heap is empty.
+    bool empty() const { return v_.empty(); }
+
+    /// Return the size of the heap.
+    size_t size() const { return v_.size(); }
+  };
+
   /* ************************************************************************ */
   DecisionTreeFactor DecisionTreeFactor::prune(size_t maxNrAssignments) const {
     const size_t N = maxNrAssignments;
 
     // Set of all keys
     std::set<Key> allKeys(keys().begin(), keys().end());
-    std::vector<double> min_heap;
+    MinHeap min_heap;
 
     auto op = [&](const Assignment<Key>& a, double p) {
       // Get all the keys in the current assignment
@@ -377,25 +431,17 @@ namespace gtsam {
       }
 
       if (min_heap.empty()) {
-        for (size_t i = 0; i < std::min(nrAssignments, N); ++i) {
-          min_heap.push_back(p);
-        }
-        std::make_heap(min_heap.begin(), min_heap.end(),
-                       std::greater<double>{});
+        min_heap.push(p, std::min(nrAssignments, N));
 
       } else {
         // If p is larger than the smallest element,
         // then we insert into the max heap.
-        if (p > min_heap.at(0)) {
+        if (p > min_heap.top()) {
           for (size_t i = 0; i < std::min(nrAssignments, N); ++i) {
             if (min_heap.size() == N) {
-              std::pop_heap(min_heap.begin(), min_heap.end(),
-                            std::greater<double>{});
-              min_heap.pop_back();
+              min_heap.pop();
             }
-            min_heap.push_back(p);
-            std::make_heap(min_heap.begin(), min_heap.end(),
-                           std::greater<double>{});
+            min_heap.push(p);
           }
         }
       }
@@ -403,7 +449,7 @@ namespace gtsam {
     };
     this->visitWith(op);
 
-    double threshold = min_heap.at(0);
+    double threshold = min_heap.top();
 
     // Now threshold the decision tree
     size_t total = 0;