revive unstable discrete. testCSP still fails, but looks like the solution is valid. See comments in file.

gtsam/discrete/DecisionTreeFactor.h

@@ -143,9 +143,6 @@ namespace gtsam {
     shared_ptr combine(const Ordering& keys, ADT::Binary op) const;
 
 
-    /** Test whether the factor is empty */
-    virtual bool empty() const { return size() == 0; }
-
 //    /**
 //     * @brief Permutes the keys in Potentials and DiscreteFactor
 //     *

gtsam/discrete/DiscreteConditional.cpp

@@ -97,10 +97,6 @@ Potentials::ADT DiscreteConditional::choose(const Values& parentsValues) const {
 /* ******************************************************************************** */
 void DiscreteConditional::solveInPlace(Values& values) const {
   // TODO: Abhijit asks: is this really the fastest way? He thinks it is.
-  print("Me: ");
-  values.print("values:");
-  cout << "nrFrontals/nrParents: " << nrFrontals() << "/" << nrParents() << endl;
-  cout << "first frontal: " << firstFrontalKey() << endl;
   ADT pFS = choose(values); // P(F|S=parentsValues)
 
   // Initialize

gtsam/discrete/DiscreteFactor.h

@@ -83,7 +83,7 @@ public:
   }
 
   /** Test whether the factor is empty */
-  virtual bool empty() const = 0;
+  virtual bool empty() const { return size() == 0; }
 
   /// @}
   /// @name Standard Interface

gtsam_unstable/CMakeLists.txt

@@ -3,7 +3,7 @@
 set (gtsam_unstable_subdirs
     base 
     geometry
-    #discrete
+    discrete
     dynamics
     nonlinear
     slam
@@ -43,7 +43,7 @@ endforeach(subdir)
 set(gtsam_unstable_srcs
     ${base_srcs} 
     ${geometry_srcs}
-    #${discrete_srcs}
+    ${discrete_srcs}
     ${dynamics_srcs} 
     ${nonlinear_srcs}
     ${slam_srcs}

gtsam_unstable/discrete/AllDiff.h

@@ -37,6 +37,18 @@ namespace gtsam {
     virtual void print(const std::string& s = "",
         const IndexFormatter& formatter = DefaultIndexFormatter) const;
 
+    /// equals
+    bool equals(const DiscreteFactor& other, double tol) const {
+      if(!dynamic_cast<const AllDiff*>(&other))
+        return false;
+      else {
+        const AllDiff& f(static_cast<const AllDiff&>(other));
+        return cardinalities_.size() == f.cardinalities_.size()
+            && std::equal(cardinalities_.begin(), cardinalities_.end(),
+                          f.cardinalities_.begin());
+      }
+    }
+
     /// Calculate value = expensive !
     virtual double operator()(const Values& values) const;
 

gtsam_unstable/discrete/BinaryAllDiff.h

@@ -39,6 +39,16 @@ namespace gtsam {
           << formatter(keys_[1]) << std::endl;
     }
 
+    /// equals
+    bool equals(const DiscreteFactor& other, double tol) const {
+      if(!dynamic_cast<const BinaryAllDiff*>(&other))
+        return false;
+      else {
+        const BinaryAllDiff& f(static_cast<const BinaryAllDiff&>(other));
+        return (cardinality0_==f.cardinality0_) && (cardinality1_==f.cardinality1_);
+      }
+    }
+
     /// Calculate value
     virtual double operator()(const Values& values) const {
       return (double) (values.at(keys_[0]) != values.at(keys_[1]));

gtsam_unstable/discrete/CSP.cpp

@@ -7,7 +7,6 @@
 
 #include <gtsam_unstable/discrete/Domain.h>
 #include <gtsam_unstable/discrete/CSP.h>
-#include <gtsam/discrete/DiscreteSequentialSolver.h>
 #include <gtsam/base/Testable.h>
 #include <boost/foreach.hpp>
 
@@ -17,15 +16,14 @@ namespace gtsam {
 
   /// Find the best total assignment - can be expensive
   CSP::sharedValues CSP::optimalAssignment() const {
-    DiscreteSequentialSolver solver(*this);
-    DiscreteBayesNet::shared_ptr chordal = solver.eliminate();
-    sharedValues mpe = optimize(*chordal);
+    DiscreteBayesNet::shared_ptr chordal = this->eliminateSequential();
+    sharedValues mpe = chordal->optimize();
     return mpe;
   }
 
   void CSP::runArcConsistency(size_t cardinality, size_t nrIterations, bool print) const {
     // Create VariableIndex
-    VariableIndexOrdered index(*this);
+    VariableIndex index(*this);
     // index.print();
 
     size_t n = index.size();
@@ -46,7 +44,7 @@ namespace gtsam {
         // keep track of which domains changed
         changed[v] = false;
         // loop over all factors/constraints for variable v
-        const VariableIndexOrdered::Factors& factors = index[v];
+        const VariableIndex::Factors& factors = index[v];
         BOOST_FOREACH(size_t f,factors) {
           // if not already a singleton
           if (!domains[v].isSingleton()) {

gtsam_unstable/discrete/Constraint.h

@@ -19,6 +19,7 @@
 
 #include <gtsam_unstable/base/dllexport.h>
 #include <gtsam/discrete/DiscreteFactor.h>
+#include <boost/assign.hpp>
 
 namespace gtsam {
 
@@ -43,12 +44,12 @@ namespace gtsam {
 
     /// Construct unary factor
     Constraint(Index j) :
-      DiscreteFactor(j) {
+      DiscreteFactor(boost::assign::cref_list_of<1>(j)) {
     }
 
     /// Construct binary factor
     Constraint(Index j1, Index j2) :
-      DiscreteFactor(j1, j2) {
+      DiscreteFactor(boost::assign::cref_list_of<2>(j1)(j2)) {
     }
 
     /// construct from container

gtsam_unstable/discrete/Domain.h

@@ -69,6 +69,16 @@ namespace gtsam {
     virtual void print(const std::string& s = "",
         const IndexFormatter& formatter = DefaultIndexFormatter) const;
 
+    /// equals
+    bool equals(const DiscreteFactor& other, double tol) const {
+      if(!dynamic_cast<const Domain*>(&other))
+        return false;
+      else {
+        const Domain& f(static_cast<const Domain&>(other));
+        return (cardinality_==f.cardinality_) && (values_==f.values_);
+      }
+    }
+
     bool contains(size_t value) const {
       return values_.count(value)>0;
     }

gtsam_unstable/discrete/Scheduler.cpp

@@ -7,7 +7,6 @@
 
 #include <gtsam_unstable/discrete/Scheduler.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/discrete/DiscreteSequentialSolver.h>
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
@@ -257,11 +256,8 @@ namespace gtsam {
 
   /** Eliminate, return a Bayes net */
   DiscreteBayesNet::shared_ptr Scheduler::eliminate() const {
-    gttic(my_solver);
-    DiscreteSequentialSolver solver(*this);
-    gttoc(my_solver);
     gttic(my_eliminate);
-    DiscreteBayesNet::shared_ptr chordal = solver.eliminate();
+    DiscreteBayesNet::shared_ptr chordal = this->eliminateSequential();
     gttoc(my_eliminate);
     return chordal;
   }
@@ -271,14 +267,14 @@ namespace gtsam {
     DiscreteBayesNet::shared_ptr chordal = eliminate();
 
     if (ISDEBUG("Scheduler::optimalAssignment")) {
-      DiscreteBayesNet::const_reverse_iterator it = chordal->rbegin();
+      DiscreteBayesNet::const_iterator it = chordal->end()-1;
       const Student & student = students_.front();
       cout << endl;
       (*it)->print(student.name_);
     }
 
     gttic(my_optimize);
-    sharedValues mpe = optimize(*chordal);
+    sharedValues mpe = chordal->optimize();
     gttoc(my_optimize);
     return mpe;
   }

gtsam_unstable/discrete/SingleValue.h

@@ -45,6 +45,16 @@ namespace gtsam {
     virtual void print(const std::string& s = "",
         const IndexFormatter& formatter = DefaultIndexFormatter) const;
 
+    /// equals
+    bool equals(const DiscreteFactor& other, double tol) const {
+      if(!dynamic_cast<const SingleValue*>(&other))
+        return false;
+      else {
+        const SingleValue& f(static_cast<const SingleValue&>(other));
+        return (cardinality_==f.cardinality_) && (value_==f.value_);
+      }
+    }
+
     /// Calculate value
     virtual double operator()(const Values& values) const;
 

gtsam_unstable/discrete/tests/testCSP.cpp

@@ -123,6 +123,11 @@ TEST_UNSAFE( CSP, WesternUS)
   (WA.first,1)(CA.first,1)(NV.first,3)(OR.first,0)
   (MT.first,1)(WY.first,0)(NM.first,3)(CO.first,2)
   (ID.first,2)(UT.first,1)(AZ.first,0);
+
+  // TODO: Fix me! mpe result seems to be right. (See the printing)
+  // It has the same prob as the expected solution.
+  // Is mpe another solution, or the expected solution is unique???
+  cout << csp(*mpe) << " should be >= " << csp(expected) << endl;
   EXPECT(assert_equal(expected,*mpe));
   EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9);
 

gtsam_unstable/discrete/tests/testScheduler.cpp

@@ -74,7 +74,7 @@ DiscreteFactorGraph createExpected() {
   expected.addAllDiff(J1 & J2 & J3);
 
   // Mutual exclusion for students
-  expected.addAllDiff(A & J);
+  expected.addAllDiff(A, J);
 
   return expected;
 }