make evaluate use the Assignment<Key> base class
parent
2cd2ab0a43
commit
9f88a360df
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@ -129,9 +129,9 @@ namespace gtsam {
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/// @name Standard Interface
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/// @{
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/// Calculate probability for given values `x`,
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/// Calculate probability for given values,
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/// is just look up in AlgebraicDecisionTree.
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double evaluate(const Assignment<Key>& values) const {
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double evaluate(const Assignment<Key>& values) const override {
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return ADT::operator()(values);
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}
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@ -129,6 +129,9 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
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virtual DiscreteFactor::shared_ptr operator/(
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const DiscreteFactor::shared_ptr& f) const = 0;
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/// Calculate probability for given values
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virtual double evaluate(const Assignment<Key>& values) const = 0;
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/**
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* Get the number of non-zero values contained in this factor.
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* It could be much smaller than `prod_{key}(cardinality(key))`.
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@ -135,7 +135,7 @@ bool TableFactor::equals(const DiscreteFactor& other, double tol) const {
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}
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/* ************************************************************************ */
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double TableFactor::operator()(const DiscreteValues& values) const {
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double TableFactor::operator()(const Assignment<Key>& values) const {
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// a b c d => D * (C * (B * (a) + b) + c) + d
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uint64_t idx = 0, card = 1;
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for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) {
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@ -169,14 +169,17 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
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// /// @name Standard Interface
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// /// @{
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/// Calculate probability for given values `x`,
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/// Calculate probability for given values,
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/// is just look up in TableFactor.
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double evaluate(const DiscreteValues& values) const {
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double evaluate(const Assignment<Key>& values) const override {
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return operator()(values);
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}
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/// Evaluate probability distribution, sugar.
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double operator()(const DiscreteValues& values) const override;
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double operator()(const Assignment<Key>& values) const;
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double operator()(const DiscreteValues& values) const override {
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return operator()(Assignment<Key>(values));
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}
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/// Calculate error for DiscreteValues `x`, is -log(probability).
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double error(const DiscreteValues& values) const override;
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