Merge pull request #985 from borglab/featue/wrap_discrete_BT

gtsam/discrete/discrete.i

@@ -92,12 +92,28 @@ class DiscreteBayesNet {
 };
 
 #include <gtsam/discrete/DiscreteBayesTree.h>
+class DiscreteBayesTreeClique {
+  DiscreteBayesTreeClique();
+  DiscreteBayesTreeClique(const gtsam::DiscreteConditional* conditional);
+  const gtsam::DiscreteConditional* conditional() const;
+  bool isRoot() const;
+  void printSignature(
+      const string& s = "Clique: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  double evaluate(const gtsam::DiscreteValues& values) const;
+};
+
 class DiscreteBayesTree {
   DiscreteBayesTree();
   void print(string s = "DiscreteBayesTree\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::DiscreteBayesTree& other, double tol = 1e-9) const;
+
+  size_t size() const;
+  bool empty() const;
+  const DiscreteBayesTreeClique* operator[](size_t j) const;
+
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   void saveGraph(string s,

python/gtsam/tests/test_DiscreteBayesTree.dot

@@ -0,0 +1,25 @@
+digraph G{
+0[label="8,12,14"];
+0->1
+1[label="0 : 8,12"];
+0->2
+2[label="1 : 8,12"];
+0->3
+3[label="9 : 12,14"];
+3->4
+4[label="2 : 9,12"];
+3->5
+5[label="3 : 9,12"];
+0->6
+6[label="10,13 : 14"];
+6->7
+7[label="4 : 10,13"];
+6->8
+8[label="5 : 10,13"];
+6->9
+9[label="11 : 13,14"];
+9->10
+10[label="6 : 11,13"];
+9->11
+11[label="7 : 11,13"];
+}

python/gtsam/tests/test_DiscreteBayesTree.py

@@ -0,0 +1,89 @@
+"""
+GTSAM Copyright 2010-2021, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for Discrete Bayes trees.
+Author: Frank Dellaert
+"""
+
+# pylint: disable=no-name-in-module, invalid-name
+
+import unittest
+
+from gtsam import (DiscreteBayesNet, DiscreteBayesTreeClique,
+                   DiscreteConditional, DiscreteFactorGraph, DiscreteKeys,
+                   Ordering)
+from gtsam.utils.test_case import GtsamTestCase
+
+
+def P(*args):
+    """ Create a DiscreteKeys instances from a variable number of DiscreteKey pairs."""
+    # TODO: We can make life easier by providing variable argument functions in C++ itself.
+    dks = DiscreteKeys()
+    for key in args:
+        dks.push_back(key)
+    return dks
+
+
+class TestDiscreteBayesNet(GtsamTestCase):
+    """Tests for Discrete Bayes Nets."""
+
+    def test_elimination(self):
+        """Test Multifrontal elimination."""
+
+        # Define DiscreteKey pairs.
+        keys = [(j, 2) for j in range(15)]
+
+        # Create thin-tree Bayesnet.
+        bayesNet = DiscreteBayesNet()
+
+        bayesNet.add(keys[0], P(keys[8], keys[12]), "2/3 1/4 3/2 4/1")
+        bayesNet.add(keys[1], P(keys[8], keys[12]), "4/1 2/3 3/2 1/4")
+        bayesNet.add(keys[2], P(keys[9], keys[12]), "1/4 8/2 2/3 4/1")
+        bayesNet.add(keys[3], P(keys[9], keys[12]), "1/4 2/3 3/2 4/1")
+
+        bayesNet.add(keys[4], P(keys[10], keys[13]), "2/3 1/4 3/2 4/1")
+        bayesNet.add(keys[5], P(keys[10], keys[13]), "4/1 2/3 3/2 1/4")
+        bayesNet.add(keys[6], P(keys[11], keys[13]), "1/4 3/2 2/3 4/1")
+        bayesNet.add(keys[7], P(keys[11], keys[13]), "1/4 2/3 3/2 4/1")
+
+        bayesNet.add(keys[8], P(keys[12], keys[14]), "T 1/4 3/2 4/1")
+        bayesNet.add(keys[9], P(keys[12], keys[14]), "4/1 2/3 F 1/4")
+        bayesNet.add(keys[10], P(keys[13], keys[14]), "1/4 3/2 2/3 4/1")
+        bayesNet.add(keys[11], P(keys[13], keys[14]), "1/4 2/3 3/2 4/1")
+
+        bayesNet.add(keys[12], P(keys[14]), "3/1 3/1")
+        bayesNet.add(keys[13], P(keys[14]), "1/3 3/1")
+
+        bayesNet.add(keys[14], P(), "1/3")
+
+        # Create a factor graph out of the Bayes net.
+        factorGraph = DiscreteFactorGraph(bayesNet)
+
+        # Create a BayesTree out of the factor graph.
+        ordering = Ordering()
+        for j in range(15):
+            ordering.push_back(j)
+        bayesTree = factorGraph.eliminateMultifrontal(ordering)
+
+        # Uncomment these for visualization:
+        # print(bayesTree)
+        # for key in range(15):
+        #     bayesTree[key].printSignature()
+        # bayesTree.saveGraph("test_DiscreteBayesTree.dot")
+
+        self.assertFalse(bayesTree.empty())
+        self.assertEqual(12, bayesTree.size())
+
+        # The root is P( 8 12 14), we can retrieve it by key:
+        root = bayesTree[8]
+        self.assertIsInstance(root, DiscreteBayesTreeClique)
+        self.assertTrue(root.isRoot())
+        self.assertIsInstance(root.conditional(), DiscreteConditional)
+
+
+if __name__ == "__main__":
+    unittest.main()