12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Use evaluate not value

release/4.3a0
Frank Dellaert 2021-12-15 06:34:46 -05:00
parent ebc37eeba5
commit f59342882a
4 changed files with 9 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/discrete/DiscreteFactor.h
View File

@ -84,7 +84,7 @@ public:
virtual double operator()(const DiscreteValues&) const = 0; virtual double operator()(const DiscreteValues&) const = 0;
/// Synonym for operator(), mostly for wrapper /// Synonym for operator(), mostly for wrapper
double value(const DiscreteValues& values) const { return operator()(values); } double evaluate(const DiscreteValues& values) const { return operator()(values); }
/// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor /// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor
virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0; virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0;

2
gtsam/discrete/DiscreteFactorGraph.h
View File

@ -137,7 +137,7 @@ public:
double operator()(const DiscreteValues& values) const; double operator()(const DiscreteValues& values) const;
/// Synonym for operator(), mostly for wrapper /// Synonym for operator(), mostly for wrapper
double value(const DiscreteValues& values) const { return operator()(values); } double evaluate(const DiscreteValues& values) const { return operator()(values); }
/// print /// print
void print( void print(

6
gtsam/discrete/discrete.i
View File

@ -25,7 +25,7 @@ class DiscreteFactor {
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const;
bool empty() const; bool empty() const;
double value(const gtsam::DiscreteValues& values) const; double evaluate(const gtsam::DiscreteValues& values) const;
}; };
#include <gtsam/discrete/DiscreteConditional.h> #include <gtsam/discrete/DiscreteConditional.h>
@ -42,7 +42,7 @@ virtual class DecisionTreeFactor: gtsam::DiscreteFactor {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const; bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
double value(const gtsam::DiscreteValues& values) const; // TODO(dellaert): why do I have to repeat??? double evaluate(const gtsam::DiscreteValues& values) const; // TODO(dellaert): why do I have to repeat???
}; };
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
@ -55,7 +55,7 @@ class DiscreteFactorGraph {
bool equals(const gtsam::DiscreteFactorGraph& fg, double tol = 1e-9) const; bool equals(const gtsam::DiscreteFactorGraph& fg, double tol = 1e-9) const;
gtsam::KeySet keys() const; gtsam::KeySet keys() const;
gtsam::DecisionTreeFactor product() const; gtsam::DecisionTreeFactor product() const;
double value(const gtsam::DiscreteValues& values) const; double evaluate(const gtsam::DiscreteValues& values) const;
DiscreteValues optimize() const; DiscreteValues optimize() const;
}; };

9
python/gtsam/tests/test_DiscreteFactorGraph.py
View File

@ -44,7 +44,7 @@ class TestDiscreteFactorGraph(GtsamTestCase):
assignment[1] = 1 assignment[1] = 1
# Check if graph evaluation works ( 0.3*0.6*4 ) # Check if graph evaluation works ( 0.3*0.6*4 )
self.assertAlmostEqual(.72, graph.value(assignment)) self.assertAlmostEqual(.72, graph.evaluate(assignment))
# Creating a new test with third node and adding unary and ternary factors on it # Creating a new test with third node and adding unary and ternary factors on it
graph.add(P3, "0.9 0.2 0.5") graph.add(P3, "0.9 0.2 0.5")
@ -60,7 +60,7 @@ class TestDiscreteFactorGraph(GtsamTestCase):
assignment[2] = 1 assignment[2] = 1
# Check if graph evaluation works (0.3*0.9*1*0.2*8) # Check if graph evaluation works (0.3*0.9*1*0.2*8)
self.assertAlmostEqual(4.32, graph.value(assignment)) self.assertAlmostEqual(4.32, graph.evaluate(assignment))
# Below assignment lead to selecting the 3rd index in the ternary factor table # Below assignment lead to selecting the 3rd index in the ternary factor table
assignment[0] = 0 assignment[0] = 0
@ -68,11 +68,11 @@ class TestDiscreteFactorGraph(GtsamTestCase):
assignment[2] = 0 assignment[2] = 0
# Check if graph evaluation works (0.9*0.6*1*0.9*4) # Check if graph evaluation works (0.9*0.6*1*0.9*4)
self.assertAlmostEqual(1.944, graph.value(assignment)) self.assertAlmostEqual(1.944, graph.evaluate(assignment))
# Check if graph product works # Check if graph product works
product = graph.product() product = graph.product()
self.assertAlmostEqual(1.944, product.value(assignment)) self.assertAlmostEqual(1.944, product.evaluate(assignment))
def test_optimize(self): def test_optimize(self):
"""Test constructing and optizing a discrete factor graph.""" """Test constructing and optizing a discrete factor graph."""
@ -94,7 +94,6 @@ class TestDiscreteFactorGraph(GtsamTestCase):
expectedValues[1] = 0 expectedValues[1] = 0
expectedValues[2] = 0 expectedValues[2] = 0
actualValues = graph.optimize() actualValues = graph.optimize()
print(list(actualValues.items()))
self.assertEqual(list(actualValues.items()), self.assertEqual(list(actualValues.items()),
list(expectedValues.items())) list(expectedValues.items()))