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make the Unary and Binary ops common

release/4.3a0
Varun Agrawal 2024-12-09 17:22:51 -05:00
parent 88b36da602
commit e0fedda712
4 changed files with 21 additions and 15 deletions
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12
gtsam/discrete/DecisionTreeFactor.cpp
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@ -83,7 +83,7 @@ namespace gtsam {
}
/* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(ADT::Unary op) const {
DecisionTreeFactor DecisionTreeFactor::apply(Unary op) const {
// apply operand
ADT result = ADT::apply(op);
// Make a new factor
@ -91,7 +91,7 @@ namespace gtsam {
}
/* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(ADT::UnaryAssignment op) const {
DecisionTreeFactor DecisionTreeFactor::apply(UnaryAssignment op) const {
// apply operand
ADT result = ADT::apply(op);
// Make a new factor
@ -100,7 +100,7 @@ namespace gtsam {
/* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(const DecisionTreeFactor& f,
ADT::Binary op) const {
Binary op) const {
map<Key, size_t> cs; // new cardinalities
// make unique key-cardinality map
for (Key j : keys()) cs[j] = cardinality(j);
@ -118,8 +118,8 @@ namespace gtsam {
}
/* ************************************************************************ */
DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
size_t nrFrontals, ADT::Binary op) const {
DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(size_t nrFrontals,
Binary op) const {
if (nrFrontals > size()) {
throw invalid_argument(
"DecisionTreeFactor::combine: invalid number of frontal "
@ -146,7 +146,7 @@ namespace gtsam {
/* ************************************************************************ */
DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
const Ordering& frontalKeys, ADT::Binary op) const {
const Ordering& frontalKeys, Binary op) const {
if (frontalKeys.size() > size()) {
throw invalid_argument(
"DecisionTreeFactor::combine: invalid number of frontal "

15
gtsam/discrete/DecisionTreeFactor.h
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@ -51,6 +51,11 @@ namespace gtsam {
typedef std::shared_ptr<DecisionTreeFactor> shared_ptr;
typedef AlgebraicDecisionTree<Key> ADT;
// Needed since we have definitions in both DiscreteFactor and DecisionTree
using Base::Binary;
using Base::Unary;
using Base::UnaryAssignment;
/// @name Standard Constructors
/// @{
@ -182,21 +187,21 @@ namespace gtsam {
* Apply unary operator (*this) "op" f
* @param op a unary operator that operates on AlgebraicDecisionTree
*/
DecisionTreeFactor apply(ADT::Unary op) const;
DecisionTreeFactor apply(Unary op) const;
/**
* Apply unary operator (*this) "op" f
* @param op a unary operator that operates on AlgebraicDecisionTree. Takes
* both the assignment and the value.
*/
DecisionTreeFactor apply(ADT::UnaryAssignment op) const;
DecisionTreeFactor apply(UnaryAssignment op) const;
/**
* Apply binary operator (*this) "op" f
* @param f the second argument for op
* @param op a binary operator that operates on AlgebraicDecisionTree
*/
DecisionTreeFactor apply(const DecisionTreeFactor& f, ADT::Binary op) const;
DecisionTreeFactor apply(const DecisionTreeFactor& f, Binary op) const;
/**
* Combine frontal variables using binary operator "op"
@ -204,7 +209,7 @@ namespace gtsam {
* @param op a binary operator that operates on AlgebraicDecisionTree
* @return shared pointer to newly created DecisionTreeFactor
*/
shared_ptr combine(size_t nrFrontals, ADT::Binary op) const;
shared_ptr combine(size_t nrFrontals, Binary op) const;
/**
* Combine frontal variables in an Ordering using binary operator "op"
@ -212,7 +217,7 @@ namespace gtsam {
* @param op a binary operator that operates on AlgebraicDecisionTree
* @return shared pointer to newly created DecisionTreeFactor
*/
shared_ptr combine(const Ordering& keys, ADT::Binary op) const;
shared_ptr combine(const Ordering& keys, Binary op) const;
/// Enumerate all values into a map from values to double.
std::vector<std::pair<DiscreteValues, double>> enumerate() const;

5
gtsam/discrete/DiscreteFactor.h
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@ -46,6 +46,11 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
using Values = DiscreteValues; ///< backwards compatibility
using Unary = std::function<double(const double&)>;
using UnaryAssignment =
std::function<double(const Assignment<Key>&, const double&)>;
using Binary = std::function<double(const double, const double)>;
protected:
/// Map of Keys and their cardinalities.
std::map<Key, size_t> cardinalities_;

4
gtsam/discrete/TableFactor.h
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@ -94,10 +94,6 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
typedef std::shared_ptr<TableFactor> shared_ptr;
typedef Eigen::SparseVector<double>::InnerIterator SparseIt;
typedef std::vector<std::pair<DiscreteValues, double>> AssignValList;
using Unary = std::function<double(const double&)>;
using UnaryAssignment =
std::function<double(const Assignment<Key>&, const double&)>;
using Binary = std::function<double(const double, const double)>;
public:
/// @name Standard Constructors