151 lines
3.8 KiB
C++
151 lines
3.8 KiB
C++
/**
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* @file GaussianConditional.h
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* @brief Conditional Gaussian Base class
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* @author Christian Potthast
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*/
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// \callgraph
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#pragma once
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#include <map>
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#include <list>
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#include <boost/utility.hpp>
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#include <boost/shared_ptr.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/shared_ptr.hpp>
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#include "Conditional.h"
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#include "VectorConfig.h"
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#include "Matrix.h"
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namespace gtsam {
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class Ordering;
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/**
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* A conditional Gaussian functions as the node in a Bayes network
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* It has a set of parents y,z, etc. and implements a probability density on x.
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* The negative log-probability is given by || Rx - (d - Sy - Tz - ...)||^2
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*/
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class GaussianConditional : public Conditional {
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public:
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typedef std::map<std::string, Matrix> Parents;
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typedef Parents::const_iterator const_iterator;
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typedef boost::shared_ptr<GaussianConditional> shared_ptr;
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protected:
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/** the triangular matrix (square root information matrix) - unit normalized */
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Matrix R_;
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/** the names and the matrices connecting to parent nodes */
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Parents parents_;
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/** the RHS vector */
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Vector d_;
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/** vector of standard deviations */
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Vector sigmas_;
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public:
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/** default constructor needed for serialization */
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GaussianConditional(){}
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/** constructor */
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GaussianConditional(const std::string& key) :
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Conditional (key) {}
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/** constructor with no parents
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* |Rx-d|
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*/
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GaussianConditional(const std::string& key, Vector d, Matrix R, Vector sigmas);
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/** constructor with only one parent
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* |Rx+Sy-d|
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*/
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GaussianConditional(const std::string& key, Vector d, Matrix R,
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const std::string& name1, Matrix S, Vector sigmas);
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/** constructor with two parents
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* |Rx+Sy+Tz-d|
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*/
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GaussianConditional(const std::string& key, Vector d, Matrix R,
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const std::string& name1, Matrix S, const std::string& name2, Matrix T, Vector sigmas);
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/**
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* constructor with number of arbitrary parents
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* |Rx+sum(Ai*xi)-d|
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*/
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GaussianConditional(const std::string& key, const Vector& d,
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const Matrix& R, const Parents& parents, Vector sigmas);
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/** deconstructor */
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virtual ~GaussianConditional() {}
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/** print */
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void print(const std::string& = "GaussianConditional") const;
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/** equals function */
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bool equals(const Conditional &cg, double tol = 1e-9) const;
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/** dimension of multivariate variable */
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size_t dim() const { return R_.size2();}
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/** return all parents */
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std::list<std::string> parents() const;
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/** return stuff contained in GaussianConditional */
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const Vector& get_d() const {return d_;}
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const Matrix& get_R() const {return R_;}
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const Vector& get_sigmas() const {return sigmas_;}
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/** STL like, return the iterator pointing to the first node */
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const_iterator const parentsBegin() const {
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return parents_.begin();
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}
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/** STL like, return the iterator pointing to the last node */
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const_iterator const parentsEnd() const {
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return parents_.end();
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}
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/** find the number of parents */
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size_t nrParents() const {
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return parents_.size();
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}
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/** determine whether a key is among the parents */
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size_t contains(const std::string& key) const {
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return parents_.count(key);
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}
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/**
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* solve a conditional Gaussian
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* @param x configuration in which the parents values (y,z,...) are known
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* @return solution x = R \ (d - Sy - Tz - ...)
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*/
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virtual Vector solve(const VectorConfig& x) const;
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/**
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* adds a parent
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*/
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void add(const std::string key, Matrix S){
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parents_.insert(make_pair(key, S));
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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ar & boost::serialization::make_nvp("Conditional", boost::serialization::base_object<Conditional>(*this));
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ar & BOOST_SERIALIZATION_NVP(R_);
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ar & BOOST_SERIALIZATION_NVP(parents_);
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ar & BOOST_SERIALIZATION_NVP(d_);
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ar & BOOST_SERIALIZATION_NVP(sigmas_);
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}
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};
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}
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