added DSF
parent
81b6f5975b
commit
cc2e42aa15
15
.cproject
15
.cproject
|
@ -317,7 +317,6 @@
|
|||
</target>
|
||||
<target name="clean" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
|
@ -477,6 +476,7 @@
|
|||
</target>
|
||||
<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testBayesTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
@ -484,7 +484,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
@ -492,6 +491,7 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
@ -683,6 +683,7 @@
|
|||
</target>
|
||||
<target name="testGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
@ -738,7 +739,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2D.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
@ -786,11 +786,20 @@
|
|||
</target>
|
||||
<target name="testErrors.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testErrors.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testDSF.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testDSF.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
|
@ -224,7 +224,8 @@ namespace gtsam {
|
|||
else if (key < k) node = node->right.root_.get();
|
||||
else /* (key() == k) */ return node->value();
|
||||
}
|
||||
throw std::invalid_argument("BTree::find: key '" + (std::string) k + "' not found");
|
||||
//throw std::invalid_argument("BTree::find: key '" + (std::string) k + "' not found");
|
||||
throw std::invalid_argument("BTree::find: key not found");
|
||||
}
|
||||
|
||||
/** print in-order */
|
||||
|
|
|
@ -0,0 +1,134 @@
|
|||
/*
|
||||
* DSF.h
|
||||
*
|
||||
* Created on: Mar 26, 2010
|
||||
* Author: nikai
|
||||
* Description: An implementation of Disjoint set forests (see CLR page 446 and up)
|
||||
* Quoting from CLR: A disjoint-set data structure maintains a collection
|
||||
* S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by
|
||||
* a representative, which is some member of the set.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <list>
|
||||
#include <set>
|
||||
#include <map>
|
||||
#include <boost/foreach.hpp>
|
||||
#include "BTree.h"
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
class Symbol;
|
||||
|
||||
template <class Key>
|
||||
class DSF : BTree<Key, Key> {
|
||||
|
||||
public:
|
||||
typedef Key Label; // label can be different from key, but for now they are same
|
||||
typedef DSF<Key> Self;
|
||||
typedef std::set<Key> Set;
|
||||
typedef BTree<Key, Label> Tree;
|
||||
typedef std::pair<Key, Label> KeyLabel;
|
||||
|
||||
// constructor
|
||||
DSF() : Tree() { }
|
||||
|
||||
// constructor
|
||||
DSF(const Tree& tree) : Tree(tree) {}
|
||||
|
||||
// create a new singleton, does nothing if already exists
|
||||
Self makeSet(const Key& key) const { if (mem(key)) return *this; else return add(key, key); }
|
||||
|
||||
// find the label of the set in which {key} lives
|
||||
Label findSet(const Key& key) const {
|
||||
Key parent = find(key);
|
||||
return parent == key ? key : findSet(parent); }
|
||||
|
||||
// return a new DSF where x and y are in the same set. Kai: the caml implementation is not const, and I followed
|
||||
Self makeUnion(const Key& key1, const Key& key2) { return add(findSet_(key2), findSet_(key1)); }
|
||||
|
||||
// create a new singleton with two connected keys
|
||||
Self makePair(const Key& key1, const Key& key2) const { return makeSet(key1).makeSet(key2).makeUnion(key1, key2); }
|
||||
|
||||
// create a new singleton with a list of fully connected keys
|
||||
Self makeList(const std::list<Key>& keys) const {
|
||||
Self t = *this;
|
||||
BOOST_FOREACH(const Key& key, keys)
|
||||
t = t.makePair(key, keys.front());
|
||||
return t;
|
||||
}
|
||||
|
||||
// return a dsf in which all find_set operations will be O(1) due to path compression.
|
||||
DSF flatten() const {
|
||||
DSF t = *this;
|
||||
BOOST_FOREACH(const KeyLabel& pair, (Tree)t)
|
||||
t.findSet_(pair.first);
|
||||
return t;
|
||||
}
|
||||
|
||||
// maps f over all keys, must be invertible
|
||||
DSF map(boost::function<Key(const Key&)> func) const {
|
||||
DSF t;
|
||||
BOOST_FOREACH(const KeyLabel& pair, (Tree)*this)
|
||||
t.add(func(pair.first), func(pair.second));
|
||||
return t;
|
||||
}
|
||||
|
||||
// return the number of sets
|
||||
size_t numSets() const {
|
||||
size_t num = 0;
|
||||
BOOST_FOREACH(const KeyLabel& pair, (Tree)*this)
|
||||
if (pair.first == pair.second) num++;
|
||||
return num;
|
||||
}
|
||||
|
||||
// return the numer of keys
|
||||
size_t size() const { return Tree::size(); }
|
||||
|
||||
// return all sets, i.e. a partition of all elements
|
||||
std::map<Label, Set> sets() const {
|
||||
std::map<Label, Set> sets;
|
||||
BOOST_FOREACH(const KeyLabel& pair, (Tree)*this)
|
||||
sets[findSet(pair.second)].insert(pair.first);
|
||||
return sets;
|
||||
}
|
||||
|
||||
// return a partition of the given elements {keys}
|
||||
std::map<Label, Set> partition(const std::list<Key>& keys) const {
|
||||
std::map<Label, Set> partitions;
|
||||
BOOST_FOREACH(const Key& key, keys)
|
||||
partitions[findSet(key)].insert(key);
|
||||
return partitions;
|
||||
}
|
||||
|
||||
/** equality */
|
||||
bool operator==(const Self& t) const { return (Tree)*this == (Tree)t; }
|
||||
|
||||
// print the object
|
||||
void print(std::string& name = "DSF") const { Tree::print(name); }
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* same as findSet except with path compression: After we have traversed the path to
|
||||
* the root, each parent pointer is made to directly point to it
|
||||
*/
|
||||
Key findSet_(const Key& key) {
|
||||
Key parent = find(key);
|
||||
if (parent == key)
|
||||
return parent;
|
||||
else {
|
||||
Key label = findSet_(parent);
|
||||
*this = add(key, label);
|
||||
return label;
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
// shortcuts
|
||||
typedef DSF<int> DSFInt;
|
||||
typedef DSF<Symbol> DSFSymbol;
|
||||
|
||||
} // namespace gtsam
|
|
@ -40,13 +40,15 @@ testMatrix_LDADD = libgtsam.la
|
|||
# The header files will be installed in ~/include/gtsam
|
||||
headers = gtsam.h Value.h Testable.h Factor.h Conditional.h
|
||||
headers += Ordering.h IndexTable.h numericalDerivative.h
|
||||
headers += BTree.h
|
||||
headers += BTree.h DSF.h
|
||||
sources += Ordering.cpp smallExample.cpp
|
||||
check_PROGRAMS += testOrdering testBTree
|
||||
check_PROGRAMS += testOrdering testBTree testDSF
|
||||
testOrdering_SOURCES = testOrdering.cpp
|
||||
testOrdering_LDADD = libgtsam.la
|
||||
testBTree_SOURCES = testBTree.cpp
|
||||
testBTree_LDADD = libgtsam.la
|
||||
testDSF_SOURCES = testDSF.cpp
|
||||
testDSF_LDADD = libgtsam.la
|
||||
|
||||
# Symbolic Inference
|
||||
headers += SymbolicConditional.h
|
||||
|
|
|
@ -0,0 +1,222 @@
|
|||
/*
|
||||
* testDSF.cpp
|
||||
*
|
||||
* Created on: Mar 26, 2010
|
||||
* Author: nikai
|
||||
* Description: unit tests for DSF
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
#include <boost/assign/std/list.hpp>
|
||||
#include <boost/assign/std/set.hpp>
|
||||
using namespace boost::assign;
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
#include "DSF.h"
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makeSet) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
LONGS_EQUAL(1, dsf.size());
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, findSet) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
CHECK(dsf.findSet(5) != dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makeUnion) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,7);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makeUnion2) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(7,5);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makeUnion3) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
dsf = dsf.makeUnion(6,7);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makePair) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makePair(0, 1);
|
||||
dsf = dsf.makePair(1, 2);
|
||||
dsf = dsf.makePair(3, 2);
|
||||
CHECK(dsf.findSet(0) == dsf.findSet(3));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, makeList) {
|
||||
DSFInt dsf;
|
||||
list<int> keys; keys += 5, 6, 7;
|
||||
dsf = dsf.makeList(keys);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, numSets) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
LONGS_EQUAL(2, dsf.numSets());
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, sets) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
map<int, set<int> > sets = dsf.sets();
|
||||
LONGS_EQUAL(1, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, sets2) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
dsf = dsf.makeUnion(6,7);
|
||||
map<int, set<int> > sets = dsf.sets();
|
||||
LONGS_EQUAL(1, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6, 7;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, sets3) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
map<int, set<int> > sets = dsf.sets();
|
||||
LONGS_EQUAL(2, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, partition) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
|
||||
list<int> keys; keys += 5;
|
||||
map<int, set<int> > partitions = dsf.partition(keys);
|
||||
LONGS_EQUAL(1, partitions.size());
|
||||
|
||||
set<int> expected; expected += 5;
|
||||
CHECK(expected == partitions[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, partition2) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
|
||||
list<int> keys; keys += 7;
|
||||
map<int, set<int> > partitions = dsf.partition(keys);
|
||||
LONGS_EQUAL(1, partitions.size());
|
||||
|
||||
set<int> expected; expected += 7;
|
||||
CHECK(expected == partitions[dsf.findSet(7)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, partition3) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
|
||||
list<int> keys; keys += 5, 7;
|
||||
map<int, set<int> > partitions = dsf.partition(keys);
|
||||
LONGS_EQUAL(2, partitions.size());
|
||||
|
||||
set<int> expected; expected += 5;
|
||||
CHECK(expected == partitions[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int func(const int& a) { return a + 10; }
|
||||
TEST(DSF, map) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
|
||||
DSFInt actual = dsf.map(&func);
|
||||
DSFInt expected;
|
||||
dsf = dsf.makeSet(15);
|
||||
dsf = dsf.makeSet(16);
|
||||
dsf = dsf.makeSet(17);
|
||||
dsf = dsf.makeUnion(15,16);
|
||||
CHECK(actual == expected);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, flatten) {
|
||||
DSFInt dsf;
|
||||
dsf = dsf.makePair(1, 2);
|
||||
dsf = dsf.makePair(2, 3);
|
||||
dsf = dsf.makePair(5, 6);
|
||||
dsf = dsf.makePair(6, 7);
|
||||
dsf = dsf.makeUnion(2, 6);
|
||||
|
||||
DSFInt actual = dsf.flatten();
|
||||
DSFInt expected;
|
||||
expected = expected.makePair(1, 2);
|
||||
expected = expected.makePair(1, 3);
|
||||
expected = expected.makePair(1, 5);
|
||||
expected = expected.makePair(1, 6);
|
||||
expected = expected.makePair(1, 7);
|
||||
CHECK(actual == expected);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
||||
/* ************************************************************************* */
|
||||
|
Loading…
Reference in New Issue