111 lines
2.6 KiB
C++
111 lines
2.6 KiB
C++
/*
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* DiscreteConditional.h
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*
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* @date Feb 14, 2011
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* @author Duy-Nguyen Ta
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam/discrete/Signature.h>
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#include <gtsam/inference/IndexConditional.h>
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#include <boost/shared_ptr.hpp>
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namespace gtsam {
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/**
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* Discrete Conditional Density
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* Derives from DecisionTreeFactor
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*/
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class DiscreteConditional: public IndexConditional, public Potentials {
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public:
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// typedefs needed to play nice with gtsam
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typedef DiscreteFactor FactorType;
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typedef boost::shared_ptr<DiscreteConditional> shared_ptr;
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typedef IndexConditional Base;
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/** A map from keys to values */
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typedef Assignment<Index> Values;
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typedef boost::shared_ptr<Values> sharedValues;
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/// @name Standard Constructors
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/// @{
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/** default constructor needed for serialization */
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DiscreteConditional() {
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}
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/** constructor from factor */
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DiscreteConditional(size_t nFrontals, const DecisionTreeFactor& f);
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/** Construct from signature */
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DiscreteConditional(const Signature& signature);
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/** construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y) */
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DiscreteConditional(const DecisionTreeFactor& joint,
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const DecisionTreeFactor& marginal);
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/// @}
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/// @name Testable
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/// @{
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/** GTSAM-style print */
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void print(const std::string& s = "Discrete Conditional: ") const {
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std::cout << s << std::endl;
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IndexConditional::print(s);
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Potentials::print(s);
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}
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/** GTSAM-style equals */
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bool equals(const DiscreteConditional& other, double tol = 1e-9) const {
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return IndexConditional::equals(other, tol)
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&& Potentials::equals(other, tol);
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}
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/// @}
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/// @name Standard Interface
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/// @{
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/** Convert to a factor */
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DecisionTreeFactor::shared_ptr toFactor() const {
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return DecisionTreeFactor::shared_ptr(new DecisionTreeFactor(*this));
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}
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/** Restrict to given parent values, returns AlgebraicDecisionDiagram */
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ADT choose(const Assignment<Index>& parentsValues) const;
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/**
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* solve a conditional
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* @param parentsAssignment Known values of the parents
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* @return MPE value of the child (1 frontal variable).
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*/
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size_t solve(const Values& parentsValues) const;
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/**
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* sample
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* @param parentsAssignment Known values of the parents
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* @return sample from conditional
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*/
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size_t sample(const Values& parentsValues) const;
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/// @}
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/// @name Advanced Interface
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/// @{
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/// solve a conditional, in place
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void solveInPlace(Values& parentsValues) const;
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/// sample in place, stores result in partial solution
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void sampleInPlace(Values& parentsValues) const;
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/// @}
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};
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// DiscreteConditional
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}// gtsam
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