Renamed BayesNet::insert -> push_back. BayesTree now uses Bayes nets as nodes.
Frank Dellaert
parent
a8d267c4ca
commit
eab038651e
33
.cproject
33
.cproject
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@ -300,6 +300,7 @@
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<buildTargets>
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<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -307,6 +308,7 @@
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</target>
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<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -314,14 +316,15 @@
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</target>
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<target name="check" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildArguments>-k</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimpleCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -337,7 +340,6 @@
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</target>
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<target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -345,6 +347,7 @@
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</target>
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<target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -352,7 +355,6 @@
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</target>
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<target name="testConditionalGaussian.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testConditionalGaussian.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -360,6 +362,7 @@
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</target>
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<target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -375,6 +378,7 @@
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</target>
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<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -382,7 +386,6 @@
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</target>
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<target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -390,6 +393,7 @@
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</target>
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<target name="testLinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testLinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -397,6 +401,7 @@
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</target>
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<target name="testConstrainedNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testConstrainedNonlinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -404,6 +409,7 @@
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</target>
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<target name="testLinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testLinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -411,7 +417,6 @@
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</target>
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<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -419,6 +424,7 @@
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</target>
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<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -426,7 +432,6 @@
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</target>
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<target name="testConstrainedLinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testConstrainedLinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -434,7 +439,6 @@
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</target>
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<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVectorConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -442,7 +446,6 @@
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</target>
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<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPoint2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -450,6 +453,7 @@
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</target>
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<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -457,6 +461,7 @@
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</target>
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<target name="timeLinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeLinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -464,6 +469,7 @@
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</target>
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<target name="timeLinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeLinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -471,6 +477,7 @@
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</target>
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<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -478,7 +485,6 @@
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</target>
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<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -486,7 +492,6 @@
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</target>
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<target name="testSymbolicBayesChain.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesChain.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -494,7 +499,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -502,6 +506,7 @@
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</target>
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<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -509,6 +514,7 @@
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</target>
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<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testMatrix.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -516,7 +522,6 @@
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -524,7 +529,6 @@
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -532,7 +536,6 @@
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -37,7 +37,7 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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void BayesNet<Conditional>::insert
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void BayesNet<Conditional>::push_back
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(const boost::shared_ptr<Conditional>& conditional) {
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indices_.insert(make_pair(conditional->key(),conditionals_.size()));
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conditionals_.push_back(conditional);
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@ -67,8 +67,8 @@ namespace gtsam {
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/** check equality */
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bool equals(const BayesNet& other, double tol = 1e-9) const;
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/** insert: use reverse topological sort (i.e. parents last / elimination order) */
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void insert(const boost::shared_ptr<Conditional>& conditional);
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/** push_back: use reverse topological sort (i.e. parents last / elimination order) */
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void push_back(const boost::shared_ptr<Conditional>& conditional);
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/** size is the number of nodes */
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inline size_t size() const {
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@ -13,36 +13,32 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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Front<Conditional>::Front(const conditional_ptr& conditional) {
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add(conditional);
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separator_ = conditional->parents();
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}
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/* ************************************************************************* */
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template<class Conditional>
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void Front<Conditional>::print(const string& s) const {
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cout << s;
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BOOST_FOREACH(const conditional_ptr& conditional, conditionals_)
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cout << " " << conditional->key();
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if (!separator_.empty()) {
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cout << " :";
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BOOST_FOREACH(string key, separator_)
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cout << " " << key;
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BayesTree<Conditional>::Node::Node(const boost::shared_ptr<Conditional>& conditional) {
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separator_ = conditional->parents();
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this->push_back(conditional);
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}
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cout << endl;
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}
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/* ************************************************************************* */
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template<class Conditional>
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bool Front<Conditional>::equals(const Front<Conditional>& other, double tol) const {
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return equal(conditionals_.begin(),conditionals_.end(),other.conditionals_.begin(),equals_star<Conditional>);
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}
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void BayesTree<Conditional>::Node::print(const string& s) const {
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cout << s;
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BOOST_REVERSE_FOREACH(const conditional_ptr& conditional, this->conditionals_)
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cout << " " << conditional->key();
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if (!separator_.empty()) {
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cout << " :";
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BOOST_FOREACH(string key, separator_)
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cout << " " << key;
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}
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cout << endl;
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}
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/* ************************************************************************* */
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template<class Conditional>
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void Front<Conditional>::add(const conditional_ptr& conditional) {
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conditionals_.push_front(conditional);
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}
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void BayesTree<Conditional>::Node::printTree(const string& indent) const {
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print(indent);
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BOOST_FOREACH(shared_ptr child, children_)
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child->printTree(indent+" ");
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}
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/* ************************************************************************* */
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template<class Conditional>
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@ -104,12 +100,13 @@ namespace gtsam {
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"BayesTree::insert('"+key+"'): parent '" + parent + "' was not yet inserted"));
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int index = it->second;
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node_ptr parent_clique = nodes_[index];
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if (verbose) cout << "Parent clique " << index << " of size " << parent_clique->size() << endl;
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// if the parents and parent clique have the same size, add to parent clique
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if (parent_clique->size() == parents.size()) {
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if (verbose) cout << "Adding to clique " << index << endl;
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nodeMap_.insert(make_pair(key, index));
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parent_clique->add(conditional);
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parent_clique->push_back(conditional);
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return;
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}
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@ -13,36 +13,12 @@
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#include <vector>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include "Testable.h"
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#include "BayesNet.h"
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namespace gtsam {
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/** A clique in a Bayes tree consisting of frontal nodes and conditionals */
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template<class Conditional>
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class Front: Testable<Front<Conditional> > {
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private:
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typedef boost::shared_ptr<Conditional> conditional_ptr;
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std::list<conditional_ptr> conditionals_; /** conditionals */
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std::list<std::string> separator_; /** separator keys */
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public:
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/** constructor */
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Front(const conditional_ptr& conditional);
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/** print */
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void print(const std::string& s = "") const;
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/** check equality */
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bool equals(const Front<Conditional>& other, double tol = 1e-9) const;
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/** add a frontal node */
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void add(const conditional_ptr& conditional);
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/** return size of the clique */
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inline size_t size() const {return conditionals_.size() + separator_.size();}
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};
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/**
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* Bayes tree
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* Templated on the Conditional class, the type of node in the underlying Bayes chain.
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@ -58,20 +34,27 @@ namespace gtsam {
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private:
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/** A Node in the tree is a Front with tree connectivity */
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struct Node : public Front<Conditional> {
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/** A Node in the tree is an incomplete Bayes net: the variables
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* in the Bayes net are the frontal nodes, and the variables conditioned
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* on is the separator. We also have pointers up and down the tree.
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*/
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struct Node : public BayesNet<Conditional> {
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typedef boost::shared_ptr<Node> shared_ptr;
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shared_ptr parent_;
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std::list<std::string> separator_; /** separator keys */
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std::list<shared_ptr> children_;
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Node(const boost::shared_ptr<Conditional>& conditional):Front<Conditional>(conditional) {}
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//* Constructor */
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Node(const boost::shared_ptr<Conditional>& conditional);
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/** The size *includes* the separator */
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size_t size() const { return this->conditionals_.size() + separator_.size(); }
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/** print this node */
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void print(const std::string& s="Bayes tree node") const;
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/** print this node and entire subtree below it*/
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void printTree(const std::string& indent) const {
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print(indent);
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BOOST_FOREACH(shared_ptr child, children_)
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child->printTree(indent+" ");
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}
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void printTree(const std::string& indent) const;
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};
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/** vector of Nodes */
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@ -107,7 +90,7 @@ namespace gtsam {
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inline size_t size() const { return nodes_.size();}
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/** return root clique */
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const Front<Conditional>& root() const {return *(nodes_[0]);}
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const BayesNet<Conditional>& root() const {return *(nodes_[0]);}
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}; // BayesTree
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@ -79,12 +79,12 @@ GaussianBayesNet::shared_ptr ConstrainedLinearFactorGraph::eliminate(const Order
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if (is_constrained(key))
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{
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ConditionalGaussian::shared_ptr ccg = eliminate_constraint(key);
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cbn->insert(ccg);
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cbn->push_back(ccg);
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}
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else
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{
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||||
ConditionalGaussian::shared_ptr cg = eliminateOne<ConditionalGaussian>(key);
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cbn->insert(cg);
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||||
cbn->push_back(cg);
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||||
}
|
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}
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||||
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||||
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|
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|||
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|
@ -63,7 +63,7 @@ LinearFactorGraph::eliminate_partially(const Ordering& ordering)
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|||
|
||||
BOOST_FOREACH(string key, ordering) {
|
||||
ConditionalGaussian::shared_ptr cg = eliminateOne<ConditionalGaussian>(key);
|
||||
chordalBayesNet->insert(cg);
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||||
chordalBayesNet->push_back(cg);
|
||||
}
|
||||
|
||||
return chordalBayesNet;
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||||
|
|
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|||
|
|
@ -26,7 +26,7 @@ namespace gtsam {
|
|||
|
||||
BOOST_FOREACH(string key, ordering) {
|
||||
SymbolicConditional::shared_ptr conditional = eliminateOne<SymbolicConditional>(key);
|
||||
bayesNet->insert(conditional);
|
||||
bayesNet->push_back(conditional);
|
||||
}
|
||||
|
||||
return bayesNet;
|
||||
|
|
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|||
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|
@ -203,8 +203,8 @@ GaussianBayesNet createSmallGaussianBayesNet()
|
|||
Px_y(new ConditionalGaussian("x",d1,R11,"y",S12)),
|
||||
Py(new ConditionalGaussian("y",d2,R22));
|
||||
GaussianBayesNet cbn;
|
||||
cbn.insert(Px_y);
|
||||
cbn.insert(Py);
|
||||
cbn.push_back(Px_y);
|
||||
cbn.push_back(Py);
|
||||
|
||||
return cbn;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,10 +27,12 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
|
|||
/* ************************************************************************* */
|
||||
TEST( BayesTree, Front )
|
||||
{
|
||||
Front<SymbolicConditional> f1(B);
|
||||
f1.add(L);
|
||||
Front<SymbolicConditional> f2(L);
|
||||
f2.add(B);
|
||||
BayesNet<SymbolicConditional> f1;
|
||||
f1.push_back(B);
|
||||
f1.push_back(L);
|
||||
BayesNet<SymbolicConditional> f2;
|
||||
f2.push_back(L);
|
||||
f2.push_back(B);
|
||||
CHECK(f1.equals(f1));
|
||||
CHECK(!f1.equals(f2));
|
||||
}
|
||||
|
|
@ -51,21 +53,24 @@ TEST( BayesTree, constructor )
|
|||
LONGS_EQUAL(4,bayesTree.size());
|
||||
|
||||
// Check root
|
||||
Front<SymbolicConditional> expected_root(B);
|
||||
expected_root.add(L);
|
||||
expected_root.add(E);
|
||||
Front<SymbolicConditional> actual_root = bayesTree.root();
|
||||
BayesNet<SymbolicConditional> expected_root;
|
||||
expected_root.push_back(B);
|
||||
expected_root.push_back(L);
|
||||
expected_root.push_back(E);
|
||||
BayesNet<SymbolicConditional> actual_root = bayesTree.root();
|
||||
CHECK(assert_equal(expected_root,actual_root));
|
||||
|
||||
// Create from symbolic Bayes chain in which we want to discover cliques
|
||||
SymbolicBayesNet ASIA;
|
||||
ASIA.insert(X);
|
||||
ASIA.insert(T);
|
||||
ASIA.insert(S);
|
||||
ASIA.insert(E);
|
||||
ASIA.insert(L);
|
||||
ASIA.insert(B);
|
||||
BayesTree<SymbolicConditional> bayesTree2(ASIA);
|
||||
ASIA.push_back(X);
|
||||
ASIA.push_back(T);
|
||||
ASIA.push_back(S);
|
||||
ASIA.push_back(E);
|
||||
ASIA.push_back(L);
|
||||
ASIA.push_back(B);
|
||||
bool verbose = true;
|
||||
BayesTree<SymbolicConditional> bayesTree2(ASIA,verbose);
|
||||
if (verbose) bayesTree2.print("bayesTree2");
|
||||
|
||||
// Check whether the same
|
||||
CHECK(assert_equal(bayesTree,bayesTree2));
|
||||
|
|
|
|||
|
|
@ -276,9 +276,9 @@ TEST( LinearFactorGraph, eliminateAll )
|
|||
ConditionalGaussian::shared_ptr cg3(new ConditionalGaussian("x2",d3, R3, "l1", A21, "x1", A22));
|
||||
|
||||
GaussianBayesNet expected;
|
||||
expected.insert(cg3);
|
||||
expected.insert(cg2);
|
||||
expected.insert(cg1);
|
||||
expected.push_back(cg3);
|
||||
expected.push_back(cg2);
|
||||
expected.push_back(cg1);
|
||||
|
||||
// Check one ordering
|
||||
LinearFactorGraph fg1 = createLinearFactorGraph();
|
||||
|
|
|
|||
|
|
@ -27,9 +27,9 @@ TEST( SymbolicBayesNet, constructor )
|
|||
l1(new SymbolicConditional("l1","x1")),
|
||||
x1(new SymbolicConditional("x1"));
|
||||
SymbolicBayesNet expected;
|
||||
expected.insert(x2);
|
||||
expected.insert(l1);
|
||||
expected.insert(x1);
|
||||
expected.push_back(x2);
|
||||
expected.push_back(l1);
|
||||
expected.push_back(x1);
|
||||
|
||||
// Create from a factor graph
|
||||
LinearFactorGraph factorGraph = createLinearFactorGraph();
|
||||
|
|
|
|||
|
|
@ -129,9 +129,9 @@ TEST( LinearFactorGraph, eliminate )
|
|||
SymbolicConditional::shared_ptr x1(new SymbolicConditional("x1"));
|
||||
|
||||
SymbolicBayesNet expected;
|
||||
expected.insert(x2);
|
||||
expected.insert(l1);
|
||||
expected.insert(x1);
|
||||
expected.push_back(x2);
|
||||
expected.push_back(l1);
|
||||
expected.push_back(x1);
|
||||
|
||||
// create a test graph
|
||||
LinearFactorGraph factorGraph = createLinearFactorGraph();
|
||||
|
|
|
|||
Loading…
Reference in New Issue