Conditional-inst.h

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
// \callgraph
#pragma once
 
#include <gtsam/inference/Conditional.h>
 
#include <cmath>
#include <iostream>
 
namespace gtsam {
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
void Conditional<FACTOR, DERIVEDCONDITIONAL>::print(
    const std::string& s, const KeyFormatter& formatter) const {
  std::cout << s << " P(";
  for (Key key : frontals()) std::cout << " " << formatter(key);
  if (nrParents() > 0) std::cout << " |";
  for (Key parent : parents()) std::cout << " " << formatter(parent);
  std::cout << ")" << std::endl;
}
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
bool Conditional<FACTOR, DERIVEDCONDITIONAL>::equals(const This& c,
                                                     double tol) const {
  return nrFrontals_ == c.nrFrontals_;
}
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
double Conditional<FACTOR, DERIVEDCONDITIONAL>::logProbability(
    const HybridValues& c) const {
  throw std::runtime_error("Conditional::logProbability is not implemented");
}
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
double Conditional<FACTOR, DERIVEDCONDITIONAL>::evaluate(
    const HybridValues& c) const {
  throw std::runtime_error("Conditional::evaluate is not implemented");
}
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
double Conditional<FACTOR, DERIVEDCONDITIONAL>::negLogConstant() const {
  throw std::runtime_error("Conditional::negLogConstant is not implemented");
}
 
/* ************************************************************************* */
template <class FACTOR, class DERIVEDCONDITIONAL>
template <class VALUES>
bool Conditional<FACTOR, DERIVEDCONDITIONAL>::CheckInvariants(
    const DERIVEDCONDITIONAL& conditional, const VALUES& values) {
  const double prob_or_density = conditional.evaluate(values);
  if (prob_or_density < 0.0) return false;  // prob_or_density is negative.
  if (std::abs(prob_or_density - conditional(values)) > 1e-9)
    return false;  // operator and evaluate differ
  const double logProb = conditional.logProbability(values);
  if (std::abs(prob_or_density - std::exp(logProb)) > 1e-9)
    return false;  // logProb is not consistent with prob_or_density
  const double error = conditional.error(values);
  if (error < 0.0) return false;  // prob_or_density is negative.
  const double expected = -(conditional.negLogConstant() + error);
  if (std::abs(logProb - expected) > 1e-9)
    return false;  // logProb is not consistent with error
  return true;
}
 
}  // namespace gtsam