From c8bf9d350ca9ace6de6218607dabc9357b7340a8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 2 Jun 2022 00:13:02 -0400 Subject: [PATCH] rename GaussianMixtureConditional to GaussianMixture --- ...ureConditional.cpp => GaussianMixture.cpp} | 28 +++++++++---------- ...MixtureConditional.h => GaussianMixture.h} | 20 ++++++------- gtsam/hybrid/HybridConditional.cpp | 2 +- gtsam/hybrid/HybridConditional.h | 14 +++++----- gtsam/hybrid/HybridGaussianFactorGraph.cpp | 8 +++--- gtsam/hybrid/hybrid.i | 8 +++--- .../tests/testGaussianHybridFactorGraph.cpp | 6 ++-- 7 files changed, 43 insertions(+), 43 deletions(-) rename gtsam/hybrid/{GaussianMixtureConditional.cpp => GaussianMixture.cpp} (80%) rename gtsam/hybrid/{GaussianMixtureConditional.h => GaussianMixture.h} (87%) diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixture.cpp similarity index 80% rename from gtsam/hybrid/GaussianMixtureConditional.cpp rename to gtsam/hybrid/GaussianMixture.cpp index 726af6d5f..1663236f0 100644 --- a/gtsam/hybrid/GaussianMixtureConditional.cpp +++ b/gtsam/hybrid/GaussianMixture.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file GaussianMixtureConditional.cpp + * @file GaussianMixture.cpp * @brief A hybrid conditional in the Conditional Linear Gaussian scheme * @author Fan Jiang * @author Varun Agrawal @@ -20,41 +20,41 @@ #include #include -#include +#include #include #include namespace gtsam { -GaussianMixtureConditional::GaussianMixtureConditional( +GaussianMixture::GaussianMixture( const KeyVector &continuousFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents, - const GaussianMixtureConditional::Conditionals &conditionals) + const GaussianMixture::Conditionals &conditionals) : BaseFactor(CollectKeys(continuousFrontals, continuousParents), discreteParents), BaseConditional(continuousFrontals.size()), conditionals_(conditionals) {} /* *******************************************************************************/ -const GaussianMixtureConditional::Conditionals & -GaussianMixtureConditional::conditionals() { +const GaussianMixture::Conditionals & +GaussianMixture::conditionals() { return conditionals_; } /* *******************************************************************************/ -GaussianMixtureConditional GaussianMixtureConditional::FromConditionals( +GaussianMixture GaussianMixture::FromConditionals( const KeyVector &continuousFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents, const std::vector &conditionalsList) { Conditionals dt(discreteParents, conditionalsList); - return GaussianMixtureConditional(continuousFrontals, continuousParents, + return GaussianMixture(continuousFrontals, continuousParents, discreteParents, dt); } /* *******************************************************************************/ -GaussianMixtureConditional::Sum GaussianMixtureConditional::add( - const GaussianMixtureConditional::Sum &sum) const { +GaussianMixture::Sum GaussianMixture::add( + const GaussianMixture::Sum &sum) const { using Y = GaussianFactorGraph; auto add = [](const Y &graph1, const Y &graph2) { auto result = graph1; @@ -66,8 +66,8 @@ GaussianMixtureConditional::Sum GaussianMixtureConditional::add( } /* *******************************************************************************/ -GaussianMixtureConditional::Sum -GaussianMixtureConditional::asGaussianFactorGraphTree() const { +GaussianMixture::Sum +GaussianMixture::asGaussianFactorGraphTree() const { auto lambda = [](const GaussianFactor::shared_ptr &factor) { GaussianFactorGraph result; result.push_back(factor); @@ -77,13 +77,13 @@ GaussianMixtureConditional::asGaussianFactorGraphTree() const { } /* *******************************************************************************/ -bool GaussianMixtureConditional::equals(const HybridFactor &lf, +bool GaussianMixture::equals(const HybridFactor &lf, double tol) const { return BaseFactor::equals(lf, tol); } /* *******************************************************************************/ -void GaussianMixtureConditional::print(const std::string &s, +void GaussianMixture::print(const std::string &s, const KeyFormatter &formatter) const { std::cout << s; if (isContinuous()) std::cout << "Continuous "; diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixture.h similarity index 87% rename from gtsam/hybrid/GaussianMixtureConditional.h rename to gtsam/hybrid/GaussianMixture.h index ab0e2ce43..756e7b77b 100644 --- a/gtsam/hybrid/GaussianMixtureConditional.h +++ b/gtsam/hybrid/GaussianMixture.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file GaussianMixtureConditional.h + * @file GaussianMixture.h * @brief A hybrid conditional in the Conditional Linear Gaussian scheme * @author Fan Jiang * @author Varun Agrawal @@ -39,14 +39,14 @@ namespace gtsam { * coefficient. * */ -class GTSAM_EXPORT GaussianMixtureConditional +class GTSAM_EXPORT GaussianMixture : public HybridFactor, - public Conditional { + public Conditional { public: - using This = GaussianMixtureConditional; - using shared_ptr = boost::shared_ptr; + using This = GaussianMixture; + using shared_ptr = boost::shared_ptr; using BaseFactor = HybridFactor; - using BaseConditional = Conditional; + using BaseConditional = Conditional; /// Alias for DecisionTree of GaussianFactorGraphs using Sum = DecisionTree; @@ -67,10 +67,10 @@ class GTSAM_EXPORT GaussianMixtureConditional /// @{ /// Defaut constructor, mainly for serialization. - GaussianMixtureConditional() = default; + GaussianMixture() = default; /** - * @brief Construct a new GaussianMixtureConditional object. + * @brief Construct a new GaussianMixture object. * * @param continuousFrontals the continuous frontals. * @param continuousParents the continuous parents. @@ -80,7 +80,7 @@ class GTSAM_EXPORT GaussianMixtureConditional * cardinality of the DiscreteKeys in discreteParents, since the * discreteParents will be used as the labels in the decision tree. */ - GaussianMixtureConditional(const KeyVector &continuousFrontals, + GaussianMixture(const KeyVector &continuousFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents, const Conditionals &conditionals); @@ -107,7 +107,7 @@ class GTSAM_EXPORT GaussianMixtureConditional /* print utility */ void print( - const std::string &s = "GaussianMixtureConditional\n", + const std::string &s = "GaussianMixture\n", const KeyFormatter &formatter = DefaultKeyFormatter) const override; /// @} diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp index 7d1b72067..8f95caf34 100644 --- a/gtsam/hybrid/HybridConditional.cpp +++ b/gtsam/hybrid/HybridConditional.cpp @@ -54,7 +54,7 @@ HybridConditional::HybridConditional( /* ************************************************************************ */ HybridConditional::HybridConditional( - boost::shared_ptr gaussianMixture) + boost::shared_ptr gaussianMixture) : BaseFactor(KeyVector(gaussianMixture->keys().begin(), gaussianMixture->keys().begin() + gaussianMixture->nrContinuous()), diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h index 887b49f12..3ba5da393 100644 --- a/gtsam/hybrid/HybridConditional.h +++ b/gtsam/hybrid/HybridConditional.h @@ -18,7 +18,7 @@ #pragma once #include -#include +#include #include #include #include @@ -42,7 +42,7 @@ class HybridGaussianFactorGraph; * As a type-erased variant of: * - DiscreteConditional * - GaussianConditional - * - GaussianMixtureConditional + * - GaussianMixture * * The reason why this is important is that `Conditional` is a CRTP class. * CRTP is static polymorphism such that all CRTP classes, while bearing the @@ -128,16 +128,16 @@ class GTSAM_EXPORT HybridConditional * HybridConditional. */ HybridConditional( - boost::shared_ptr gaussianMixture); + boost::shared_ptr gaussianMixture); /** - * @brief Return HybridConditional as a GaussianMixtureConditional + * @brief Return HybridConditional as a GaussianMixture * - * @return GaussianMixtureConditional::shared_ptr + * @return GaussianMixture::shared_ptr */ - GaussianMixtureConditional::shared_ptr asMixture() { + GaussianMixture::shared_ptr asMixture() { if (!isHybrid()) throw std::invalid_argument("Not a mixture"); - return boost::static_pointer_cast(inner_); + return boost::static_pointer_cast(inner_); } /** diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 0ac2c2656..f4f09701f 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include #include #include @@ -207,8 +207,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors, const GaussianMixtureFactor::Factors &separatorFactors = pair.second; - // Create the GaussianMixtureConditional from the conditionals - auto conditional = boost::make_shared( + // Create the GaussianMixture from the conditionals + auto conditional = boost::make_shared( frontalKeys, keysOfSeparator, discreteSeparator, pair.first); // If there are no more continuous parents, then we should create here a @@ -262,7 +262,7 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors, // Because of all these reasons, we carefully consider how to // implement the hybrid factors so that we do not get poor performance. - // The first thing is how to represent the GaussianMixtureConditional. + // The first thing is how to represent the GaussianMixture. // A very possible scenario is that the incoming factors will have different // levels of discrete keys. For example, imagine we are going to eliminate the // fragment: $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i index 94eaa88b2..bbe1e2400 100644 --- a/gtsam/hybrid/hybrid.i +++ b/gtsam/hybrid/hybrid.i @@ -38,16 +38,16 @@ class GaussianMixtureFactor : gtsam::HybridFactor { gtsam::DefaultKeyFormatter) const; }; -#include -class GaussianMixtureConditional : gtsam::HybridFactor { - static GaussianMixtureConditional FromConditionals( +#include +class GaussianMixture : gtsam::HybridFactor { + static GaussianMixture FromConditionals( const gtsam::KeyVector& continuousFrontals, const gtsam::KeyVector& continuousParents, const gtsam::DiscreteKeys& discreteParents, const std::vector& conditionalsList); - void print(string s = "GaussianMixtureConditional\n", + void print(string s = "GaussianMixture\n", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; }; diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp index 8ff959d74..552bb18f5 100644 --- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp +++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include @@ -65,9 +65,9 @@ TEST(HybridGaussianFactorGraph, creation) { hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1))); - GaussianMixtureConditional clgc( + GaussianMixture clgc( {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}), - GaussianMixtureConditional::Conditionals( + GaussianMixture::Conditionals( C(0), boost::make_shared(X(0), Z_3x1, I_3x3, X(1), I_3x3),