Detailed Description

Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor.

DecisionTreeFactor, which represent a discrete distribution over a set of variables.

Hybrid factors, such as

Inheritance diagram for gtsam::DiscreteFactor:

Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.
virtual std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as markdown table.
virtual std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as html table.

Public Member Functions
Standard Constructors
	DiscreteFactor ()
	Default constructor creates empty factor.
template<typename CONTAINER>
	DiscreteFactor (const CONTAINER &keys, const std::map< Key, size_t > cardinalities={})
	Construct from container of keys and map of cardinalities.
Testable
virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const
	equals
void	print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Standard Interface
DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor.
std::map< Key, size_t >	cardinalities () const
size_t	cardinality (Key j) const
virtual double	evaluate (const Assignment< Key > &values) const =0
	Calculate probability for given values.
double	operator() (const DiscreteValues &values) const
	Find value for given assignment of values to variables.
virtual double	error (const DiscreteValues &values) const
	Error is just -log(value).
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual AlgebraicDecisionTree< Key >	errorTree () const
	Compute error for each assignment and return as a tree.
virtual DiscreteFactor::shared_ptr	operator* (double s) const =0
	Multiply with a scalar.
virtual DecisionTreeFactor	operator* (const DecisionTreeFactor &) const =0
	Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.
virtual DiscreteFactor::shared_ptr	multiply (const DiscreteFactor::shared_ptr &df) const
	Multiply in a DiscreteFactor and return the result as DiscreteFactor, both via shared pointers.
virtual DiscreteFactor::shared_ptr	operator/ (const DiscreteFactor::shared_ptr &df) const =0
	divide by DiscreteFactor::shared_ptr f (safely)
virtual DecisionTreeFactor	toDecisionTreeFactor () const =0
virtual TableFactor	toTableFactor () const
	Convert to a sparse table, falling back through a decision tree.
virtual DiscreteFactor::shared_ptr	sum (size_t nrFrontals) const =0
	Create new factor by summing all values with the same separator values.
virtual DiscreteFactor::shared_ptr	sum (const Ordering &keys) const =0
	Create new factor by summing all values with the same separator values.
virtual double	max () const =0
	Find the maximum value in the factor.
virtual DiscreteFactor::shared_ptr	max (size_t nrFrontals) const =0
	Create new factor by maximizing over all values with the same separator.
virtual DiscreteFactor::shared_ptr	max (const Ordering &keys) const =0
	Create new factor by maximizing over all values with the same separator.
DiscreteFactor::shared_ptr	scale () const
	Scale the factor values by the maximum to prevent underflow/overflow.
virtual uint64_t	nrValues () const =0
	Get the number of non-zero values contained in this factor.
virtual DiscreteFactor::shared_ptr	restrict (const DiscreteValues &assignment) const =0
	Restrict the factor to the given assignment.
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const KeyVector &	keys () const
	Access the factor's involved variable keys.
const_iterator	begin () const
	Iterator at beginning of involved variable keys.
const_iterator	end () const
	Iterator at end of involved variable keys.
size_t	size () const
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef DiscreteFactor	This
	This class.
typedef std::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
using	Values = DiscreteValues
	backwards compatibility
using	Unary = std::function<double(const double&)>
using	UnaryAssignment
using	Binary = std::function<double(const double, const double)>
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
std::map< Key, size_t >	cardinalities_
	Map of Keys and their cardinalities.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Additional Inherited Members
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.

Member Typedef Documentation

◆ UnaryAssignment

using gtsam::DiscreteFactor::UnaryAssignment

Initial value:

std::function<double(const Assignment<Key>&, const double&)>

gtsam::Assignment

An assignment from labels to value index (size_t).

Definition Assignment.h:37

Constructor & Destructor Documentation

◆ DiscreteFactor()

template<typename CONTAINER>

gtsam::DiscreteFactor::DiscreteFactor	(	const CONTAINER &	keys,
		const std::map< Key, size_t >	cardinalities = {} )

inline

Construct from container of keys and map of cardinalities.

This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

Member Function Documentation

◆ equals()

bool DiscreteFactor::equals	(	const DiscreteFactor &	lf,
		double	tol = 1e-9 ) const

virtual

equals

Reimplemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::Domain, gtsam::SingleValue, gtsam::TableDistribution, and gtsam::TableFactor.

◆ error() [1/2]

double DiscreteFactor::error ( const DiscreteValues & values ) const

virtual

Error is just -log(value).

Reimplemented in gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::TableFactor.

◆ error() [2/2]

double DiscreteFactor::error ( const HybridValues & hybridValues ) const

overridevirtual

All factor types need to implement an error function.

In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::TableFactor.

◆ errorTree()

AlgebraicDecisionTree< Key > DiscreteFactor::errorTree ( ) const

virtual

Compute error for each assignment and return as a tree.

Reimplemented in gtsam::Constraint.

◆ evaluate()

virtual double gtsam::DiscreteFactor::evaluate ( const Assignment< Key > & values ) const

pure virtual

Calculate probability for given values.

Calls specialized evaluation under the hood.

Note: Uses Assignment<Key> as it is the base class of DiscreteValues.

Parameters

values Discrete assignment.

Returns: double

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::Domain, gtsam::SingleValue, gtsam::TableDistribution, and gtsam::TableFactor.

◆ html()

virtual std::string gtsam::DiscreteFactor::html	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

pure virtual

Render as html table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a html string.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::TableFactor.

◆ markdown()

virtual std::string gtsam::DiscreteFactor::markdown	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

pure virtual

Render as markdown table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a markdown string.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::TableFactor.

◆ max() [1/3]

virtual double gtsam::DiscreteFactor::max ( ) const

pure virtual

Find the maximum value in the factor.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::TableDistribution, and gtsam::TableFactor.

◆ max() [2/3]

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::max ( const Ordering & keys ) const

pure virtual

Create new factor by maximizing over all values with the same separator.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::TableDistribution, and gtsam::TableFactor.

◆ max() [3/3]

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::max ( size_t nrFrontals ) const

pure virtual

Create new factor by maximizing over all values with the same separator.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::TableDistribution, and gtsam::TableFactor.

◆ multiply()

DiscreteFactor::shared_ptr DiscreteFactor::multiply ( const DiscreteFactor::shared_ptr & df ) const

virtual

Multiply in a DiscreteFactor and return the result as DiscreteFactor, both via shared pointers.

Parameters

df	DiscreteFactor shared_ptr

Returns: DiscreteFactor::shared_ptr

Reimplemented in gtsam::DecisionTreeFactor, and gtsam::TableFactor.

◆ nrValues()

virtual uint64_t gtsam::DiscreteFactor::nrValues ( ) const

pure virtual

Get the number of non-zero values contained in this factor.

It could be much smaller than prod_{key}(cardinality(key)).

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::TableDistribution, and gtsam::TableFactor.

◆ operator*() [1/2]

virtual DecisionTreeFactor gtsam::DiscreteFactor::operator* ( const DecisionTreeFactor & ) const

pure virtual

Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteBoundaryFactor, gtsam::DiscreteConditional, gtsam::Domain, gtsam::SingleValue, and gtsam::TableFactor.

◆ operator*() [2/2]

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::operator* ( double s ) const

pure virtual

Multiply with a scalar.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteBoundaryFactor, gtsam::DiscreteConditional, gtsam::TableDistribution, and gtsam::TableFactor.

◆ operator/()

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::operator/ ( const DiscreteFactor::shared_ptr & df ) const

pure virtual

divide by DiscreteFactor::shared_ptr f (safely)

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::DiscreteBoundaryFactor, gtsam::TableDistribution, and gtsam::TableFactor.

◆ print()

void gtsam::DiscreteFactor::print	(	const std::string &	s = "DiscreteFactor\n",
		const KeyFormatter &	formatter = DefaultKeyFormatter ) const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteLookupTable, gtsam::Domain, gtsam::SingleValue, gtsam::TableDistribution, and gtsam::TableFactor.

◆ restrict()

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::restrict ( const DiscreteValues & assignment ) const

pure virtual

Restrict the factor to the given assignment.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, and gtsam::TableFactor.

◆ scale()

DiscreteFactor::shared_ptr DiscreteFactor::scale ( ) const

Scale the factor values by the maximum to prevent underflow/overflow.

Returns: DiscreteFactor::shared_ptr

◆ sum() [1/2]

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::sum ( const Ordering & keys ) const

pure virtual

Create new factor by summing all values with the same separator values.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::TableDistribution, and gtsam::TableFactor.

◆ sum() [2/2]

virtual DiscreteFactor::shared_ptr gtsam::DiscreteFactor::sum ( size_t nrFrontals ) const

pure virtual

Create new factor by summing all values with the same separator values.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, gtsam::TableDistribution, and gtsam::TableFactor.

◆ toDecisionTreeFactor()

virtual DecisionTreeFactor gtsam::DiscreteFactor::toDecisionTreeFactor ( ) const

pure virtual

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::SingleValue, gtsam::TableDistribution, and gtsam::TableFactor.

◆ toTableFactor()

TableFactor DiscreteFactor::toTableFactor ( ) const

virtual

Convert to a sparse table, falling back through a decision tree.

Reimplemented in gtsam::AllDiff, gtsam::DecisionTreeFactor, gtsam::TableDistribution, and gtsam::TableFactor.

The documentation for this class was generated from the following files:

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/discrete/DiscreteFactor.h
/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/discrete/DiscreteFactor.cpp

Detailed Description

Wrapper support

Public Member Functions

Public Types

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ UnaryAssignment

Constructor & Destructor Documentation

◆ DiscreteFactor()

Member Function Documentation

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ errorTree()

◆ evaluate()

◆ html()

◆ markdown()

◆ max() [1/3]

◆ max() [2/3]

◆ max() [3/3]

◆ multiply()

◆ nrValues()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/()

◆ print()

◆ restrict()

◆ scale()

◆ sum() [1/2]

◆ sum() [2/2]

◆ toDecisionTreeFactor()

◆ toTableFactor()