park changes so I can come back to them later
Varun Agrawal
parent
1dfb388587
commit
ea24a2c7e8
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@ -204,12 +204,18 @@ namespace gtsam {
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std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> //
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EliminateDiscrete(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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factors.print("The Factors to eliminate:");
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// PRODUCT: multiply all factors
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gttic(product);
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DecisionTreeFactor product;
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for (auto&& factor : factors) product = (*factor) * product;
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gttoc(product);
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std::cout << "\n\n==========" << std::endl;
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std::cout << "Product" << std::endl;
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std::cout << std::endl;
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product.print();
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// Max over all the potentials by pretending all keys are frontal:
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auto normalization = product.max(product.size());
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@ -221,6 +227,10 @@ namespace gtsam {
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DecisionTreeFactor::shared_ptr sum = product.sum(frontalKeys);
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gttoc(sum);
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std::cout << "\n->Sum" << std::endl;
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sum->print();
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std::cout << "----------------------" << std::endl;
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// Ordering keys for the conditional so that frontalKeys are really in front
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Ordering orderedKeys;
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orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
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@ -22,13 +22,15 @@
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam/discrete/DiscreteConditional.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/discrete/DiscreteFactorGraph.h>
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#include <gtsam/discrete/DiscreteBayesNet.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(DiscreteConditional, constructors) {
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TEST_DISABLED(DiscreteConditional, constructors) {
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DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering !
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DiscreteConditional actual(X | Y = "1/1 2/3 1/4");
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@ -49,7 +51,7 @@ TEST(DiscreteConditional, constructors) {
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}
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/* ************************************************************************* */
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TEST(DiscreteConditional, constructors_alt_interface) {
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TEST_DISABLED(DiscreteConditional, constructors_alt_interface) {
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DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering !
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const Signature::Row r1{1, 1}, r2{2, 3}, r3{1, 4};
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@ -68,7 +70,7 @@ TEST(DiscreteConditional, constructors_alt_interface) {
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}
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/* ************************************************************************* */
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TEST(DiscreteConditional, constructors2) {
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TEST_DISABLED(DiscreteConditional, constructors2) {
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DiscreteKey C(0, 2), B(1, 2);
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Signature signature((C | B) = "4/1 3/1");
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DiscreteConditional actual(signature);
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@ -78,7 +80,7 @@ TEST(DiscreteConditional, constructors2) {
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}
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/* ************************************************************************* */
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TEST(DiscreteConditional, constructors3) {
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TEST_DISABLED(DiscreteConditional, constructors3) {
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DiscreteKey C(0, 2), B(1, 2), A(2, 2);
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Signature signature((C | B, A) = "4/1 1/1 1/1 1/4");
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DiscreteConditional actual(signature);
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@ -89,7 +91,7 @@ TEST(DiscreteConditional, constructors3) {
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/* ****************************************************************************/
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// Test evaluate for a discrete Prior P(Asia).
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TEST(DiscreteConditional, PriorProbability) {
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TEST_DISABLED(DiscreteConditional, PriorProbability) {
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constexpr Key asiaKey = 0;
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const DiscreteKey Asia(asiaKey, 2);
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DiscreteConditional dc(Asia, "4/6");
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@ -100,7 +102,7 @@ TEST(DiscreteConditional, PriorProbability) {
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/* ************************************************************************* */
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// Check that error, logProbability, evaluate all work as expected.
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TEST(DiscreteConditional, probability) {
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TEST_DISABLED(DiscreteConditional, probability) {
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DiscreteKey C(2, 2), D(4, 2), E(3, 2);
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DiscreteConditional C_given_DE((C | D, E) = "4/1 1/1 1/1 1/4");
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@ -114,7 +116,7 @@ TEST(DiscreteConditional, probability) {
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/* ************************************************************************* */
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// Check calculation of joint P(A,B)
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TEST(DiscreteConditional, Multiply) {
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TEST_DISABLED(DiscreteConditional, Multiply) {
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DiscreteKey A(1, 2), B(0, 2);
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DiscreteConditional conditional(A | B = "1/2 2/1");
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DiscreteConditional prior(B % "1/2");
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@ -139,7 +141,7 @@ TEST(DiscreteConditional, Multiply) {
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/* ************************************************************************* */
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// Check calculation of conditional joint P(A,B|C)
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TEST(DiscreteConditional, Multiply2) {
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TEST_DISABLED(DiscreteConditional, Multiply2) {
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DiscreteKey A(0, 2), B(1, 2), C(2, 2);
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DiscreteConditional A_given_B(A | B = "1/3 3/1");
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DiscreteConditional B_given_C(B | C = "1/3 3/1");
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@ -159,7 +161,7 @@ TEST(DiscreteConditional, Multiply2) {
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/* ************************************************************************* */
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// Check calculation of conditional joint P(A,B|C), double check keys
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TEST(DiscreteConditional, Multiply3) {
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TEST_DISABLED(DiscreteConditional, Multiply3) {
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DiscreteKey A(1, 2), B(2, 2), C(0, 2); // different keys!!!
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DiscreteConditional A_given_B(A | B = "1/3 3/1");
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DiscreteConditional B_given_C(B | C = "1/3 3/1");
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@ -179,7 +181,7 @@ TEST(DiscreteConditional, Multiply3) {
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/* ************************************************************************* */
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// Check calculation of conditional joint P(A,B,C|D,E) = P(A,B|D) P(C|D,E)
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TEST(DiscreteConditional, Multiply4) {
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TEST_DISABLED(DiscreteConditional, Multiply4) {
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DiscreteKey A(0, 2), B(1, 2), C(2, 2), D(4, 2), E(3, 2);
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DiscreteConditional A_given_B(A | B = "1/3 3/1");
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DiscreteConditional B_given_D(B | D = "1/3 3/1");
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@ -203,7 +205,7 @@ TEST(DiscreteConditional, Multiply4) {
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/* ************************************************************************* */
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// Check calculation of marginals for joint P(A,B)
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TEST(DiscreteConditional, marginals) {
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TEST_DISABLED(DiscreteConditional, marginals) {
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DiscreteKey A(1, 2), B(0, 2);
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DiscreteConditional conditional(A | B = "1/2 2/1");
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DiscreteConditional prior(B % "1/2");
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@ -225,7 +227,7 @@ TEST(DiscreteConditional, marginals) {
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/* ************************************************************************* */
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// Check calculation of marginals in case branches are pruned
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TEST(DiscreteConditional, marginals2) {
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TEST_DISABLED(DiscreteConditional, marginals2) {
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DiscreteKey A(0, 2), B(1, 2); // changing keys need to make pruning happen!
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DiscreteConditional conditional(A | B = "2/2 3/1");
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DiscreteConditional prior(B % "1/2");
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@ -241,7 +243,7 @@ TEST(DiscreteConditional, marginals2) {
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}
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/* ************************************************************************* */
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TEST(DiscreteConditional, likelihood) {
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TEST_DISABLED(DiscreteConditional, likelihood) {
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DiscreteKey X(0, 2), Y(1, 3);
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DiscreteConditional conditional(X | Y = "2/8 4/6 5/5");
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@ -256,7 +258,7 @@ TEST(DiscreteConditional, likelihood) {
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/* ************************************************************************* */
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// Check choose on P(C|D,E)
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TEST(DiscreteConditional, choose) {
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TEST_DISABLED(DiscreteConditional, choose) {
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DiscreteKey C(2, 2), D(4, 2), E(3, 2);
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DiscreteConditional C_given_DE((C | D, E) = "4/1 1/1 1/1 1/4");
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@ -284,7 +286,7 @@ TEST(DiscreteConditional, choose) {
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/* ************************************************************************* */
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// Check markdown representation looks as expected, no parents.
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TEST(DiscreteConditional, markdown_prior) {
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TEST_DISABLED(DiscreteConditional, markdown_prior) {
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DiscreteKey A(Symbol('x', 1), 3);
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DiscreteConditional conditional(A % "1/2/2");
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string expected =
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@ -300,7 +302,7 @@ TEST(DiscreteConditional, markdown_prior) {
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/* ************************************************************************* */
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// Check markdown representation looks as expected, no parents + names.
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TEST(DiscreteConditional, markdown_prior_names) {
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TEST_DISABLED(DiscreteConditional, markdown_prior_names) {
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Symbol x1('x', 1);
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DiscreteKey A(x1, 3);
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DiscreteConditional conditional(A % "1/2/2");
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@ -318,7 +320,7 @@ TEST(DiscreteConditional, markdown_prior_names) {
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/* ************************************************************************* */
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// Check markdown representation looks as expected, multivalued.
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TEST(DiscreteConditional, markdown_multivalued) {
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TEST_DISABLED(DiscreteConditional, markdown_multivalued) {
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DiscreteKey A(Symbol('a', 1), 3), B(Symbol('b', 1), 5);
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DiscreteConditional conditional(
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A | B = "2/88/10 2/20/78 33/33/34 33/33/34 95/2/3");
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@ -337,7 +339,7 @@ TEST(DiscreteConditional, markdown_multivalued) {
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/* ************************************************************************* */
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// Check markdown representation looks as expected, two parents + names.
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TEST(DiscreteConditional, markdown) {
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TEST_DISABLED(DiscreteConditional, markdown) {
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DiscreteKey A(2, 2), B(1, 2), C(0, 3);
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DiscreteConditional conditional(A, {B, C}, "0/1 1/3 1/1 3/1 0/1 1/0");
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string expected =
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@ -360,7 +362,7 @@ TEST(DiscreteConditional, markdown) {
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/* ************************************************************************* */
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// Check html representation looks as expected, two parents + names.
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TEST(DiscreteConditional, html) {
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TEST_DISABLED(DiscreteConditional, html) {
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DiscreteKey A(2, 2), B(1, 2), C(0, 3);
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DiscreteConditional conditional(A, {B, C}, "0/1 1/3 1/1 3/1 0/1 1/0");
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string expected =
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@ -388,6 +390,72 @@ TEST(DiscreteConditional, html) {
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EXPECT(actual == expected);
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}
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/* ************************************************************************* */
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TEST(DiscreteConditional, NrAssignments) {
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#ifdef GTSAM_DT_MERGING
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string expected = R"( P( 0 1 2 ):
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Choice(2)
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0 Choice(1)
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0 0 Leaf [2] 0
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0 1 Choice(0)
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0 1 0 Leaf [1] 0.27527634
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0 1 1 Leaf [1] 0
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1 Choice(1)
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1 0 Leaf [2] 0
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1 1 Choice(0)
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1 1 0 Leaf [1] 0.44944733
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1 1 1 Leaf [1] 0.27527634
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)";
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#else
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string expected = R"( P( 0 1 2 ):
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Choice(2)
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0 Choice(1)
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0 0 Choice(0)
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0 0 0 Leaf [1] 0
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0 0 1 Leaf [1] 0
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0 1 Choice(0)
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0 1 0 Leaf [1] 0.27527634
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0 1 1 Leaf [1] 0.44944733
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1 Choice(1)
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1 0 Choice(0)
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1 0 0 Leaf [1] 0
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1 0 1 Leaf [1] 0
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1 1 Choice(0)
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1 1 0 Leaf [1] 0
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1 1 1 Leaf [1] 0.27527634
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)";
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#endif
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DiscreteKeys d0{{0, 2}, {1, 2}, {2, 2}};
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std::vector<double> p0 = {0, 0, 0.17054468, 0.27845056, 0, 0, 0, 0.17054468};
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AlgebraicDecisionTree<Key> dt(d0, p0);
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DecisionTreeFactor dtf(d0, dt);
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DiscreteConditional f0(3, dtf);
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EXPECT(assert_print_equal(expected, f0));
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DiscreteFactorGraph dfg{f0};
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dfg.print();
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auto dbn = dfg.eliminateSequential();
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dbn->print();
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// DiscreteKeys d0{{0, 2}, {1, 2}};
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// std::vector<double> p0 = {0, 1, 0, 2};
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// AlgebraicDecisionTree<Key> dt0(d0, p0);
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// dt0.print("", DefaultKeyFormatter);
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// DiscreteKeys d1{{0, 2}};
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// std::vector<double> p1 = {1, 1, 1, 1};
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// AlgebraicDecisionTree<Key> dt1(d0, p1);
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// dt1.print("", DefaultKeyFormatter);
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// auto dd = dt0 / dt1;
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// dd.print("", DefaultKeyFormatter);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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@ -140,15 +140,26 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
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for (size_t i = 0; i < this->size(); i++) {
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auto conditional = this->at(i);
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if (conditional->isDiscrete()) {
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std::cout << ">>>" << std::endl;
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conditional->print();
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discreteProbs = discreteProbs * (*conditional->asDiscrete());
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// discreteProbs.print();
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// std::cout << "================\n" << std::endl;
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Ordering conditional_keys(conditional->frontals());
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discrete_frontals += conditional_keys;
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discrete_factor_idxs.push_back(i);
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}
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}
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std::cout << "Original Joint Prob:" << std::endl;
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std::cout << discreteProbs.nrAssignments() << std::endl;
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discreteProbs.print();
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const DecisionTreeFactor prunedDiscreteProbs =
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discreteProbs.prune(maxNrLeaves);
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std::cout << "Pruned Joint Prob:" << std::endl;
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std::cout << prunedDiscreteProbs.nrAssignments() << std::endl;
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prunedDiscreteProbs.print();
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std::cout << "\n\n\n";
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gttoc_(HybridBayesNet_PruneDiscreteConditionals);
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// Eliminate joint probability back into conditionals
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@ -159,6 +170,8 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
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// Assign pruned discrete conditionals back at the correct indices.
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for (size_t i = 0; i < discrete_factor_idxs.size(); i++) {
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size_t idx = discrete_factor_idxs.at(i);
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// std::cout << i << std::endl;
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// dbn->at(i)->print();
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this->at(idx) = std::make_shared<HybridConditional>(dbn->at(i));
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}
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gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
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@ -178,7 +178,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
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throwRuntimeError("continuousElimination", f);
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}
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}
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dfg.print("The DFG to eliminate");
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// NOTE: This does sum-product. For max-product, use EliminateForMPE.
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auto result = EliminateDiscrete(dfg, frontalKeys);
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