Merge pull request #1875 from borglab/feature/fasterDT
commit
db353a58a4
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@ -22,10 +22,12 @@
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#include <gtsam/discrete/DecisionTree-inl.h>
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#include <algorithm>
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#include <limits>
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#include <map>
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#include <string>
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#include <iomanip>
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#include <vector>
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namespace gtsam {
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/**
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@ -22,18 +22,15 @@
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#include <gtsam/discrete/DecisionTree.h>
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#include <algorithm>
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#include <cmath>
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#include <cassert>
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#include <fstream>
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#include <list>
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#include <iterator>
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#include <map>
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#include <optional>
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#include <set>
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#include <sstream>
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#include <string>
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#include <vector>
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#include <optional>
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#include <cassert>
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#include <iterator>
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namespace gtsam {
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@ -251,22 +248,28 @@ namespace gtsam {
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label_ = f.label();
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size_t count = f.nrChoices();
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branches_.reserve(count);
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for (size_t i = 0; i < count; i++)
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push_back(f.branches_[i]->apply_f_op_g(g, op));
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for (size_t i = 0; i < count; i++) {
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NodePtr newBranch = f.branches_[i]->apply_f_op_g(g, op);
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push_back(std::move(newBranch));
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}
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} else if (g.label() > f.label()) {
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// f lower than g
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label_ = g.label();
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size_t count = g.nrChoices();
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branches_.reserve(count);
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for (size_t i = 0; i < count; i++)
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push_back(g.branches_[i]->apply_g_op_fC(f, op));
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for (size_t i = 0; i < count; i++) {
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NodePtr newBranch = g.branches_[i]->apply_g_op_fC(f, op);
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push_back(std::move(newBranch));
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}
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} else {
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// f same level as g
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label_ = f.label();
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size_t count = f.nrChoices();
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branches_.reserve(count);
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for (size_t i = 0; i < count; i++)
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push_back(f.branches_[i]->apply_f_op_g(*g.branches_[i], op));
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for (size_t i = 0; i < count; i++) {
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NodePtr newBranch = f.branches_[i]->apply_f_op_g(*g.branches_[i], op);
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push_back(std::move(newBranch));
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}
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}
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}
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@ -284,12 +287,12 @@ namespace gtsam {
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}
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/** add a branch: TODO merge into constructor */
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void push_back(const NodePtr& node) {
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void push_back(NodePtr&& node) {
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// allSame_ is restricted to leaf nodes in a decision tree
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if (allSame_ && !branches_.empty()) {
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allSame_ = node->sameLeaf(*branches_.back());
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}
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branches_.push_back(node);
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branches_.push_back(std::move(node));
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}
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/// print (as a tree).
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@ -497,9 +500,9 @@ namespace gtsam {
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DecisionTree<L, Y>::DecisionTree(const L& label, const Y& y1, const Y& y2) {
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auto a = std::make_shared<Choice>(label, 2);
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NodePtr l1(new Leaf(y1)), l2(new Leaf(y2));
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a->push_back(l1);
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a->push_back(l2);
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root_ = Choice::Unique(a);
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a->push_back(std::move(l1));
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a->push_back(std::move(l2));
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root_ = Choice::Unique(std::move(a));
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}
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/****************************************************************************/
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@ -510,11 +513,10 @@ namespace gtsam {
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"DecisionTree: binary constructor called with non-binary label");
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auto a = std::make_shared<Choice>(labelC.first, 2);
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NodePtr l1(new Leaf(y1)), l2(new Leaf(y2));
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a->push_back(l1);
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a->push_back(l2);
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root_ = Choice::Unique(a);
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a->push_back(std::move(l1));
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a->push_back(std::move(l2));
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root_ = Choice::Unique(std::move(a));
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}
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/****************************************************************************/
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template<typename L, typename Y>
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DecisionTree<L, Y>::DecisionTree(const std::vector<LabelC>& labelCs,
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@ -557,9 +559,7 @@ namespace gtsam {
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template <typename X, typename Func>
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DecisionTree<L, Y>::DecisionTree(const DecisionTree<L, X>& other,
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Func Y_of_X) {
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// Define functor for identity mapping of node label.
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auto L_of_L = [](const L& label) { return label; };
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root_ = convertFrom<L, X>(other.root_, L_of_L, Y_of_X);
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root_ = convertFrom<X>(other.root_, Y_of_X);
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}
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/****************************************************************************/
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@ -580,7 +580,7 @@ namespace gtsam {
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template <typename L, typename Y>
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template <typename Iterator>
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typename DecisionTree<L, Y>::NodePtr DecisionTree<L, Y>::compose(
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Iterator begin, Iterator end, const L& label) const {
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Iterator begin, Iterator end, const L& label) {
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// find highest label among branches
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std::optional<L> highestLabel;
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size_t nrChoices = 0;
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@ -598,8 +598,10 @@ namespace gtsam {
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// if label is already in correct order, just put together a choice on label
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if (!nrChoices || !highestLabel || label > *highestLabel) {
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auto choiceOnLabel = std::make_shared<Choice>(label, end - begin);
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for (Iterator it = begin; it != end; it++)
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choiceOnLabel->push_back(it->root_);
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for (Iterator it = begin; it != end; it++) {
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NodePtr root = it->root_;
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choiceOnLabel->push_back(std::move(root));
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}
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// If no reordering, no need to call Choice::Unique
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return choiceOnLabel;
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} else {
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@ -618,7 +620,7 @@ namespace gtsam {
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}
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// We then recurse, for all values of the highest label
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NodePtr fi = compose(functions.begin(), functions.end(), label);
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choiceOnHighestLabel->push_back(fi);
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choiceOnHighestLabel->push_back(std::move(fi));
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}
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return choiceOnHighestLabel;
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}
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@ -648,7 +650,7 @@ namespace gtsam {
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template<typename L, typename Y>
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template<typename It, typename ValueIt>
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typename DecisionTree<L, Y>::NodePtr DecisionTree<L, Y>::build(
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It begin, It end, ValueIt beginY, ValueIt endY) const {
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It begin, It end, ValueIt beginY, ValueIt endY) {
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// get crucial counts
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size_t nrChoices = begin->second;
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size_t size = endY - beginY;
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@ -675,6 +677,7 @@ namespace gtsam {
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// Creates one tree (i.e.,function) for each choice of current key
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// by calling create recursively, and then puts them all together.
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std::vector<DecisionTree> functions;
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functions.reserve(nrChoices);
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size_t split = size / nrChoices;
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for (size_t i = 0; i < nrChoices; i++, beginY += split) {
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NodePtr f = build<It, ValueIt>(labelC, end, beginY, beginY + split);
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@ -689,7 +692,7 @@ namespace gtsam {
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template<typename L, typename Y>
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template<typename It, typename ValueIt>
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typename DecisionTree<L, Y>::NodePtr DecisionTree<L, Y>::create(
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It begin, It end, ValueIt beginY, ValueIt endY) const {
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It begin, It end, ValueIt beginY, ValueIt endY) {
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auto node = build(begin, end, beginY, endY);
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if (auto choice = std::dynamic_pointer_cast<const Choice>(node)) {
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return Choice::Unique(choice);
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@ -698,17 +701,44 @@ namespace gtsam {
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}
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}
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/****************************************************************************/
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template <typename L, typename Y>
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template <typename X>
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typename DecisionTree<L, Y>::NodePtr DecisionTree<L, Y>::convertFrom(
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const typename DecisionTree<L, X>::NodePtr& f,
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std::function<Y(const X&)> Y_of_X) {
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// If leaf, apply unary conversion "op" and create a unique leaf.
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using LXLeaf = typename DecisionTree<L, X>::Leaf;
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if (auto leaf = std::dynamic_pointer_cast<const LXLeaf>(f)) {
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return NodePtr(new Leaf(Y_of_X(leaf->constant())));
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}
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// Check if Choice
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using LXChoice = typename DecisionTree<L, X>::Choice;
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auto choice = std::dynamic_pointer_cast<const LXChoice>(f);
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if (!choice) throw std::invalid_argument(
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"DecisionTree::convertFrom: Invalid NodePtr");
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// Create a new Choice node with the same label
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auto newChoice = std::make_shared<Choice>(choice->label(), choice->nrChoices());
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// Convert each branch recursively
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for (auto&& branch : choice->branches()) {
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newChoice->push_back(convertFrom<X>(branch, Y_of_X));
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}
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return Choice::Unique(newChoice);
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}
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/****************************************************************************/
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template <typename L, typename Y>
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template <typename M, typename X>
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typename DecisionTree<L, Y>::NodePtr DecisionTree<L, Y>::convertFrom(
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const typename DecisionTree<M, X>::NodePtr& f,
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std::function<L(const M&)> L_of_M,
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std::function<Y(const X&)> Y_of_X) const {
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std::function<L(const M&)> L_of_M, std::function<Y(const X&)> Y_of_X) {
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using LY = DecisionTree<L, Y>;
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// Ugliness below because apparently we can't have templated virtual
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// functions.
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// If leaf, apply unary conversion "op" and create a unique leaf.
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using MXLeaf = typename DecisionTree<M, X>::Leaf;
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if (auto leaf = std::dynamic_pointer_cast<const MXLeaf>(f)) {
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// Check if Choice
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using MXChoice = typename DecisionTree<M, X>::Choice;
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auto choice = std::dynamic_pointer_cast<const MXChoice>(f);
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if (!choice) throw std::invalid_argument(
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"DecisionTree::convertFrom: Invalid NodePtr");
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if (!choice)
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throw std::invalid_argument("DecisionTree::convertFrom: Invalid NodePtr");
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// get new label
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const M oldLabel = choice->label();
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const L newLabel = L_of_M(oldLabel);
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// put together via Shannon expansion otherwise not sorted.
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// Shannon expansion in this context involves:
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// 1. Creating separate subtrees (functions) for each possible value of the new label.
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// 2. Combining these subtrees using the 'compose' method, which implements the expansion.
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// This approach guarantees that the resulting tree maintains the correct variable ordering
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// based on the new labels (L) after translation from the old labels (M).
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// Simply creating a Choice node here would not work because it wouldn't account for the
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// potentially new ordering of variables resulting from the label translation,
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// which is crucial for maintaining consistency and efficiency in the converted tree.
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std::vector<LY> functions;
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for (auto&& branch : choice->branches()) {
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functions.emplace_back(convertFrom<M, X>(branch, L_of_M, Y_of_X));
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}
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return Choice::Unique(LY::compose(functions.begin(), functions.end(), newLabel));
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return Choice::Unique(
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LY::compose(functions.begin(), functions.end(), newLabel));
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}
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/****************************************************************************/
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@ -31,7 +31,6 @@
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#include <iostream>
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#include <map>
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#include <set>
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#include <sstream>
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#include <string>
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#include <utility>
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#include <vector>
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@ -155,7 +154,7 @@ namespace gtsam {
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* and Y values
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*/
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template <typename It, typename ValueIt>
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NodePtr build(It begin, It end, ValueIt beginY, ValueIt endY) const;
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static NodePtr build(It begin, It end, ValueIt beginY, ValueIt endY);
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/** Internal helper function to create from
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* keys, cardinalities, and Y values.
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* before we prune in a top-down fashion.
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*/
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template <typename It, typename ValueIt>
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NodePtr create(It begin, It end, ValueIt beginY, ValueIt endY) const;
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static NodePtr create(It begin, It end, ValueIt beginY, ValueIt endY);
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/**
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* @brief Convert from a DecisionTree<L, X> to DecisionTree<L, Y>.
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*
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* @tparam M The previous label type.
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* @tparam X The previous value type.
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* @param f The node pointer to the root of the previous DecisionTree.
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* @param Y_of_X Functor to convert from value type X to type Y.
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* @return NodePtr
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*/
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template <typename X>
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static NodePtr convertFrom(const typename DecisionTree<L, X>::NodePtr& f,
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std::function<Y(const X&)> Y_of_X);
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/**
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* @brief Convert from a DecisionTree<M, X> to DecisionTree<L, Y>.
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@ -176,9 +188,9 @@ namespace gtsam {
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* @return NodePtr
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*/
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template <typename M, typename X>
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NodePtr convertFrom(const typename DecisionTree<M, X>::NodePtr& f,
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std::function<L(const M&)> L_of_M,
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std::function<Y(const X&)> Y_of_X) const;
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static NodePtr convertFrom(const typename DecisionTree<M, X>::NodePtr& f,
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std::function<L(const M&)> L_of_M,
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std::function<Y(const X&)> Y_of_X);
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public:
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/// @name Standard Constructors
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@ -402,7 +414,7 @@ namespace gtsam {
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// internal use only
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template<typename Iterator> NodePtr
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compose(Iterator begin, Iterator end, const L& label) const;
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static compose(Iterator begin, Iterator end, const L& label);
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/// @}
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