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common definitions of Unary, UnaryAssignment and Binary

release/4.3a0
Varun Agrawal 2024-12-08 12:36:23 -05:00
parent f9a9801912
commit e6b6528521
3 changed files with 21 additions and 12 deletions
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12
gtsam/discrete/DecisionTreeFactor.cpp
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@ -94,7 +94,7 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(ADT::Unary op) const { DecisionTreeFactor DecisionTreeFactor::apply(Unary op) const {
// apply operand // apply operand
ADT result = ADT::apply(op); ADT result = ADT::apply(op);
// Make a new factor // Make a new factor
@ -102,7 +102,7 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(ADT::UnaryAssignment op) const { DecisionTreeFactor DecisionTreeFactor::apply(UnaryAssignment op) const {
// apply operand // apply operand
ADT result = ADT::apply(op); ADT result = ADT::apply(op);
// Make a new factor // Make a new factor
@ -111,7 +111,7 @@ namespace gtsam {
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor DecisionTreeFactor::apply(const DecisionTreeFactor& f, DecisionTreeFactor DecisionTreeFactor::apply(const DecisionTreeFactor& f,
ADT::Binary op) const { Binary op) const {
map<Key, size_t> cs; // new cardinalities map<Key, size_t> cs; // new cardinalities
// make unique key-cardinality map // make unique key-cardinality map
for (Key j : keys()) cs[j] = cardinality(j); for (Key j : keys()) cs[j] = cardinality(j);
@ -129,8 +129,8 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine( DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(size_t nrFrontals,
size_t nrFrontals, ADT::Binary op) const { Binary op) const {
if (nrFrontals > size()) { if (nrFrontals > size()) {
throw invalid_argument( throw invalid_argument(
"DecisionTreeFactor::combine: invalid number of frontal " "DecisionTreeFactor::combine: invalid number of frontal "
@ -157,7 +157,7 @@ namespace gtsam {
/* ************************************************************************ */ /* ************************************************************************ */
DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine( DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
const Ordering& frontalKeys, ADT::Binary op) const { const Ordering& frontalKeys, Binary op) const {
if (frontalKeys.size() > size()) { if (frontalKeys.size() > size()) {
throw invalid_argument( throw invalid_argument(
"DecisionTreeFactor::combine: invalid number of frontal " "DecisionTreeFactor::combine: invalid number of frontal "

16
gtsam/discrete/DecisionTreeFactor.h
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@ -51,6 +51,10 @@ namespace gtsam {
typedef std::shared_ptr<DecisionTreeFactor> shared_ptr; typedef std::shared_ptr<DecisionTreeFactor> shared_ptr;
typedef AlgebraicDecisionTree<Key> ADT; typedef AlgebraicDecisionTree<Key> ADT;
using Base::Binary;
using Base::Unary;
using Base::UnaryAssignment;
/// @name Standard Constructors /// @name Standard Constructors
/// @{ /// @{
@ -140,7 +144,7 @@ namespace gtsam {
double error(const DiscreteValues& values) const override; double error(const DiscreteValues& values) const override;
/// multiply two factors /// multiply two factors
DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override { DecisionTreeFactor operator*(const DecisionTreeFactor& f) const {
return apply(f, Ring::mul); return apply(f, Ring::mul);
} }
@ -196,21 +200,21 @@ namespace gtsam {
* Apply unary operator (*this) "op" f * Apply unary operator (*this) "op" f
* @param op a unary operator that operates on AlgebraicDecisionTree * @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 * Apply unary operator (*this) "op" f
* @param op a unary operator that operates on AlgebraicDecisionTree. Takes * @param op a unary operator that operates on AlgebraicDecisionTree. Takes
* both the assignment and the value. * both the assignment and the value.
*/ */
DecisionTreeFactor apply(ADT::UnaryAssignment op) const; DecisionTreeFactor apply(UnaryAssignment op) const;
/** /**
* Apply binary operator (*this) "op" f * Apply binary operator (*this) "op" f
* @param f the second argument for op * @param f the second argument for op
* @param op a binary operator that operates on AlgebraicDecisionTree * @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" * Combine frontal variables using binary operator "op"
@ -218,7 +222,7 @@ namespace gtsam {
* @param op a binary operator that operates on AlgebraicDecisionTree * @param op a binary operator that operates on AlgebraicDecisionTree
* @return shared pointer to newly created DecisionTreeFactor * @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" * Combine frontal variables in an Ordering using binary operator "op"
@ -226,7 +230,7 @@ namespace gtsam {
* @param op a binary operator that operates on AlgebraicDecisionTree * @param op a binary operator that operates on AlgebraicDecisionTree
* @return shared pointer to newly created DecisionTreeFactor * @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. /// Enumerate all values into a map from values to double.
std::vector<std::pair<DiscreteValues, double>> enumerate() const; std::vector<std::pair<DiscreteValues, double>> enumerate() const;

5
gtsam/discrete/DiscreteFactor.h
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@ -47,6 +47,11 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
using Values = DiscreteValues; ///< backwards compatibility 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: protected:
/// Map of Keys and their cardinalities. /// Map of Keys and their cardinalities.
std::map<Key, size_t> cardinalities_; std::map<Key, size_t> cardinalities_;