115 lines
3.0 KiB
C++
115 lines
3.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file DiscreteFactor.h
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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/DiscreteValues.h>
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#include <gtsam/inference/Factor.h>
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#include <gtsam/base/Testable.h>
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namespace gtsam {
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class DecisionTreeFactor;
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class DiscreteConditional;
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/**
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* Base class for discrete probabilistic factors
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* The most general one is the derived DecisionTreeFactor
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*/
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class GTSAM_EXPORT DiscreteFactor: public Factor {
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public:
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// typedefs needed to play nice with gtsam
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typedef DiscreteFactor This; ///< This class
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typedef boost::shared_ptr<DiscreteFactor> shared_ptr; ///< shared_ptr to this class
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typedef Factor Base; ///< Our base class
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using Values = DiscreteValues; ///< backwards compatibility
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public:
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/// @name Standard Constructors
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/// @{
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/** Default constructor creates empty factor */
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DiscreteFactor() {}
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/** Construct from container of keys. This constructor is used internally from derived factor
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* constructors, either from a container of keys or from a boost::assign::list_of. */
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template<typename CONTAINER>
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DiscreteFactor(const CONTAINER& keys) : Base(keys) {}
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/// Virtual destructor
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virtual ~DiscreteFactor() {
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}
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/// @}
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/// @name Testable
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/// @{
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/// equals
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virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;
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/// print
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void print(
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const std::string& s = "DiscreteFactor\n",
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const KeyFormatter& formatter = DefaultKeyFormatter) const override {
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Base::print(s, formatter);
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}
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/// @}
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/// @name Standard Interface
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/// @{
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/// Find value for given assignment of values to variables
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virtual double operator()(const DiscreteValues&) const = 0;
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/// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor
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virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0;
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virtual DecisionTreeFactor toDecisionTreeFactor() const = 0;
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/// @}
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/// @name Wrapper support
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/// @{
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using Names = std::map<Key, std::vector<std::string>>;
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static std::string Translate(const Names& names, Key key, size_t index);
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/**
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* @brief Render as markdown table
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*
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* @param keyFormatter GTSAM-style Key formatter.
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* @param names optional, category names corresponding to choices.
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* @return std::string a markdown string.
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*/
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virtual std::string markdown(
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const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const Names& names = {}) const = 0;
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/// @}
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};
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// DiscreteFactor
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// traits
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template<> struct traits<DiscreteFactor> : public Testable<DiscreteFactor> {};
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}// namespace gtsam
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