mark helper methods as protected and add docstrings
Varun Agrawal
parent
ae0b3e3902
commit
bed56e0693
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@ -73,6 +73,7 @@ class GTSAM_EXPORT HybridEliminationTree
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/** Test whether the tree is equal to another */
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bool equals(const This& other, double tol = 1e-9) const;
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protected:
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/**
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* @brief Helper method to eliminate continuous variables.
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*
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@ -87,6 +88,22 @@ class GTSAM_EXPORT HybridEliminationTree
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boost::shared_ptr<HybridGaussianFactorGraph>>
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eliminateContinuous(Eliminate function) const;
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/**
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* @brief Compute the unnormalized probability P'(X | M, Z)
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* for the factor graph in each leaf of the discrete tree.
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* The discrete decision tree formed as a result is added to the
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* `discreteGraph` for discrete elimination.
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*
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* @param continuousBayesNet The bayes nets corresponding to
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* the eliminated continuous variables.
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* @param discreteGraph Factor graph consisting of factors
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* on discrete variables only.
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* @return boost::shared_ptr<HybridGaussianFactorGraph>
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*/
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boost::shared_ptr<HybridGaussianFactorGraph> addProbPrimes(
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const HybridBayesNet::shared_ptr& continuousBayesNet,
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph) const;
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/**
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* @brief Helper method to eliminate the discrete variables after the
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* continuous variables have been eliminated.
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@ -105,6 +122,7 @@ class GTSAM_EXPORT HybridEliminationTree
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Eliminate function,
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph) const;
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public:
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/**
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* @brief Override the EliminationTree eliminate method
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* so we can perform hybrid elimination correctly.
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@ -252,11 +252,11 @@ HybridJunctionTree::eliminateDiscrete(
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/* ************************************************************************* */
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boost::shared_ptr<HybridGaussianFactorGraph> HybridJunctionTree::addProbPrimes(
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const HybridGaussianFactorGraph& graph,
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const HybridBayesTree::shared_ptr& continuousBayesTree,
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph,
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const Ordering& continuous_ordering,
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const Ordering& discrete_ordering) const {
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph) const {
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Ordering continuous_ordering = etree_.continuousOrdering();
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Ordering discrete_ordering = etree_.discreteOrdering();
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// If we have eliminated continuous variables
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// and have discrete variables to eliminate,
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// then compute P(X | M, Z)
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@ -272,6 +272,8 @@ boost::shared_ptr<HybridGaussianFactorGraph> HybridJunctionTree::addProbPrimes(
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std::set<DiscreteKey> dkeys_set(discrete_keys.begin(), discrete_keys.end());
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discrete_keys = DiscreteKeys(dkeys_set.begin(), dkeys_set.end());
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FactorGraphType graph = etree_.graph();
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// DecisionTree for P'(X|M, Z) for all mode sequences M
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const AlgebraicDecisionTree<Key> probPrimeTree =
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graph.continuousProbPrimes(discrete_keys, continuousBayesTree);
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@ -298,8 +300,7 @@ HybridJunctionTree::eliminate(const Eliminate& function) const {
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this->eliminateContinuous(function, graph, continuous_ordering);
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FactorGraphType::shared_ptr updatedDiscreteGraph =
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this->addProbPrimes(graph, continuousBayesTree, discreteGraph,
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continuous_ordering, discrete_ordering);
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this->addProbPrimes(continuousBayesTree, discreteGraph);
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// Eliminate discrete variables to get the discrete bayes tree.
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return this->eliminateDiscrete(function, continuousBayesTree,
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@ -73,14 +73,15 @@ class GTSAM_EXPORT HybridJunctionTree
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*/
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HybridJunctionTree(const HybridEliminationTree& eliminationTree);
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protected:
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/**
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* @brief
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*
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* @param function
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* @param graph
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* @param continuous_ordering
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* @brief Eliminate all the continuous variables from the factor graph.
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*
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* @param function The hybrid elimination function.
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* @param graph The factor graph to eliminate.
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* @param continuous_ordering The ordering of continuous variables.
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* @return std::pair<boost::shared_ptr<HybridBayesTree>,
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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*/
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std::pair<boost::shared_ptr<HybridBayesTree>,
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boost::shared_ptr<HybridGaussianFactorGraph>>
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@ -89,14 +90,17 @@ class GTSAM_EXPORT HybridJunctionTree
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const Ordering& continuous_ordering) const;
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/**
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* @brief
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*
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* @param function
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* @param continuousBayesTree
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* @param discreteGraph
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* @param discrete_ordering
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* @brief Eliminate all the discrete variables in the hybrid factor graph.
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*
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* @param function The hybrid elimination function.
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* @param continuousBayesTree The bayes tree corresponding to
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* the eliminated continuous variables.
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* @param discreteGraph Factor graph of factors containing
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* only discrete variables.
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* @param discrete_ordering The elimination ordering for
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* the discrete variables.
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* @return std::pair<boost::shared_ptr<HybridBayesTree>,
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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*/
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std::pair<boost::shared_ptr<HybridBayesTree>,
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boost::shared_ptr<HybridGaussianFactorGraph>>
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@ -106,28 +110,29 @@ class GTSAM_EXPORT HybridJunctionTree
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const Ordering& discrete_ordering) const;
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/**
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* @brief
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*
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* @param graph
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* @param continuousBayesTree
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* @param discreteGraph
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* @param continuous_ordering
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* @param discrete_ordering
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* @return boost::shared_ptr<HybridGaussianFactorGraph>
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* @brief Compute the unnormalized probability P'(X | M, Z)
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* for the factor graph in each leaf of the discrete tree.
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* The discrete decision tree formed as a result is added to the
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* `discreteGraph` for discrete elimination.
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*
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* @param continuousBayesTree The bayes tree corresponding to
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* the eliminated continuous variables.
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* @param discreteGraph Factor graph consisting of factors
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* on discrete variables only.
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* @return boost::shared_ptr<HybridGaussianFactorGraph>
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*/
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boost::shared_ptr<HybridGaussianFactorGraph> addProbPrimes(
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const HybridGaussianFactorGraph& graph,
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const HybridBayesTree::shared_ptr& continuousBayesTree,
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph,
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const Ordering& continuous_ordering,
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const Ordering& discrete_ordering) const;
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const HybridGaussianFactorGraph::shared_ptr& discreteGraph) const;
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public:
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/**
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* @brief
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*
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* @param function
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* @brief Override the eliminate method so we can
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* perform hybrid elimination correctly.
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*
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* @param function The hybrid elimination function.
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* @return std::pair<boost::shared_ptr<HybridBayesTree>,
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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* boost::shared_ptr<HybridGaussianFactorGraph>>
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*/
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std::pair<boost::shared_ptr<HybridBayesTree>,
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boost::shared_ptr<HybridGaussianFactorGraph>>
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