Detailed Description

A discrete probabilistic factor optimized for sparsity.

Uses sparse_table_ to store only the nonzero probabilities. Computes the assigned value for the key using the ordering which the nonzero probabilties are stored in. (lazy cartesian product)

Inheritance diagram for gtsam::TableFactor:

Testable
static double	safe_div (const double &a, const double &b)
bool	equals (const DiscreteFactor &other, double tol=1e-9) const override
	equality
void	print (const std::string &s="TableFactor:\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Eigen::SparseVector< double >	sparseTable () const
	Getter for the underlying sparse vector.
double	evaluate (const Assignment< Key > &values) const override
	Evaluate probability distribution, is just look up in TableFactor.
double	error (const DiscreteValues &values) const override
	Calculate error for DiscreteValues x, is -log(probability).
DiscreteFactor::shared_ptr	operator* (double s) const override
	multiply with a scalar
TableFactor	operator* (const TableFactor &f) const
	multiply two TableFactors
DecisionTreeFactor	operator* (const DecisionTreeFactor &f) const override
	multiply with DecisionTreeFactor
virtual DiscreteFactor::shared_ptr	multiply (const DiscreteFactor::shared_ptr &f) const override
	Multiply factors, DiscreteFactor::shared_ptr edition.
TableFactor	operator/ (const TableFactor &f) const
	divide by factor f (safely)
DiscreteFactor::shared_ptr	operator/ (const DiscreteFactor::shared_ptr &f) const override
	divide by DiscreteFactor::shared_ptr f (safely)
DecisionTreeFactor	toDecisionTreeFactor () const override
	Convert into a decisiontree.
TableFactor	toTableFactor () const override
	Return this sparse table representation.
TableFactor	choose (const DiscreteValues parentAssignments, DiscreteKeys parent_keys) const
	Create a TableFactor that is a subset of this TableFactor.
DiscreteFactor::shared_ptr	sum (size_t nrFrontals) const override
	Create new factor by summing all values with the same separator values.
DiscreteFactor::shared_ptr	sum (const Ordering &keys) const override
	Create new factor by summing all values with the same separator values.
double	max () const override
	Find the maximum value in the factor.
DiscreteFactor::shared_ptr	max (size_t nrFrontals) const override
	Create new factor by maximizing over all values with the same separator.
DiscreteFactor::shared_ptr	max (const Ordering &keys) const override
	Create new factor by maximizing over all values with the same separator.

Public Member Functions
Standard Constructors
	TableFactor ()
	Default constructor for I/O.
	TableFactor (const DiscreteKeys &keys, const TableFactor &potentials)
	Constructor from DiscreteKeys and TableFactor.
	TableFactor (const DiscreteKeys &keys, const Eigen::SparseVector< double > &table)
	Constructor from sparse_table.
	TableFactor (const DiscreteKeys &keys, const std::vector< double > &table)
	Constructor from doubles.
	TableFactor (const DiscreteKeys &keys, const std::string &table)
	Constructor from string.
template<class SOURCE>
	TableFactor (const DiscreteKey &key, SOURCE table)
	Single-key specialization.
	TableFactor (const DiscreteKey &key, const std::vector< double > &row)
	Single-key specialization, with vector of doubles.
	TableFactor (const DiscreteKeys &keys, const DecisionTreeFactor &dtf)
	Constructor from DecisionTreeFactor.
	TableFactor (const DecisionTreeFactor &dtf)
	TableFactor (const DiscreteKeys &keys, const DecisionTree< Key, double > &dtree)
	Constructor from DecisionTree<Key, double>/AlgebraicDecisionTree.
	TableFactor (const DiscreteConditional &c)
	Construct from a DiscreteConditional type.
Advanced Interface
TableFactor	apply (Unary op) const
	Apply unary operator op(*this) where op accepts the discrete value.
TableFactor	apply (UnaryAssignment op) const
	Apply unary operator op(*this) where op accepts the discrete assignment and the value at that assignment.
TableFactor	apply (const TableFactor &f, Binary op) const
	Apply binary operator (*this) "op" f.
uint64_t	unionRep (const DiscreteKeys &keys, const DiscreteValues &assign, const uint64_t idx) const
	Create unique representation of union modes.
std::unordered_map< uint64_t, AssignValList >	createMap (const DiscreteKeys &contract, const DiscreteKeys &free) const
	Create a hash map of input factor with assignment of contract modes as keys and vector of hashed assignment of free modes and value as values.
uint64_t	uniqueRep (const DiscreteKeys &keys, const uint64_t idx) const
	Create unique representation.
uint64_t	uniqueRep (const DiscreteValues &assignments) const
	Create unique representation with DiscreteValues.
DiscreteValues	findAssignments (const uint64_t idx) const
	Find DiscreteValues for corresponding index.
double	findValue (const DiscreteValues &values) const
	Find value for corresponding DiscreteValues.
shared_ptr	combine (size_t nrFrontals, Binary op) const
	Combine frontal variables using binary operator "op".
shared_ptr	combine (const Ordering &keys, Binary op) const
	Combine frontal variables in an Ordering using binary operator "op".
std::vector< std::pair< DiscreteValues, double > >	enumerate () const
	Enumerate all values into a map from values to double.
TableFactor	prune (size_t maxNrAssignments) const
	Prune the decision tree of discrete variables.
uint64_t	nrValues () const override
	Get the number of non-zero values contained in this factor.
DiscreteFactor::shared_ptr	restrict (const DiscreteValues &assignment) const override
	Restrict the factor to the given assignment.
Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as markdown table.
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as html table.
HybridValues methods.
double	error (const HybridValues &values) const override
	Calculate error for HybridValues x, is -log(probability) Simply dispatches to DiscreteValues version.
Public Member Functions inherited from gtsam::DiscreteFactor
	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.
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
double	operator() (const DiscreteValues &values) const
	Find value for given assignment of values to variables.
virtual AlgebraicDecisionTree< Key >	errorTree () const
	Compute error for each assignment and return as a tree.
DiscreteFactor::shared_ptr	scale () const
	Scale the factor values by the maximum to prevent underflow/overflow.
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.

Static Public Member Functions
static Eigen::SparseVector< double >	Convert (const DiscreteKeys &keys, const std::vector< double > &table)
	Convert probability table given as doubles to SparseVector.
static Eigen::SparseVector< double >	Convert (const DiscreteKeys &keys, const std::string &table)
	Convert probability table given as string to SparseVector.

Public Types
typedef TableFactor	This
typedef DiscreteFactor	Base
	Typedef to base class.
typedef std::shared_ptr< TableFactor >	shared_ptr
typedef Eigen::SparseVector< double >::InnerIterator	SparseIt
typedef std::vector< std::pair< DiscreteValues, double > >	AssignValList
Public Types inherited from gtsam::DiscreteFactor
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)>
using	Names = DiscreteValues::Names
	Translation table from values to strings.
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
Eigen::SparseVector< double >	sparse_table_
	SparseVector of nonzero probabilities.
Protected Attributes inherited from gtsam::DiscreteFactor
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 Function Documentation

◆ apply() [1/3]

TableFactor gtsam::TableFactor::apply	(	const TableFactor &	f,
		Binary	op ) const

Apply binary operator (*this) "op" f.

Parameters

f	the second argument for op
op	a binary operator that operates on TableFactor

◆ apply() [2/3]

TableFactor gtsam::TableFactor::apply ( Unary op ) const

Apply unary operator op(*this) where op accepts the discrete value.

Parameters

op	a unary operator that operates on TableFactor

◆ apply() [3/3]

TableFactor gtsam::TableFactor::apply ( UnaryAssignment op ) const

Apply unary operator op(*this) where op accepts the discrete assignment and the value at that assignment.

Parameters

op	a unary operator that operates on TableFactor

◆ combine() [1/2]

TableFactor::shared_ptr gtsam::TableFactor::combine	(	const Ordering &	keys,
		Binary	op ) const

Combine frontal variables in an Ordering using binary operator "op".

Parameters

nrFrontals	nr. of frontal to combine variables in this factor
op	a binary operator that operates on TableFactor

Returns: shared pointer to newly created TableFactor

◆ combine() [2/2]

TableFactor::shared_ptr gtsam::TableFactor::combine	(	size_t	nrFrontals,
		Binary	op ) const

Combine frontal variables using binary operator "op".

Parameters

nrFrontals	nr. of frontal to combine variables in this factor
op	a binary operator that operates on TableFactor

Returns: shared pointer to newly created TableFactor

◆ Convert()

Eigen::SparseVector< double > gtsam::TableFactor::Convert	(	const DiscreteKeys &	keys,
		const std::vector< double > &	table )

static

Convert probability table given as doubles to SparseVector.

Example: {0, 1, 1, 0, 0, 1, 0} -> values: {1, 1, 1}, indices: {1, 2, 5}

◆ equals()

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

overridevirtual

equality

Reimplemented from gtsam::DiscreteFactor.

◆ error() [1/2]

double gtsam::TableFactor::error ( const DiscreteValues & values ) const

overridevirtual

Calculate error for DiscreteValues x, is -log(probability).

Reimplemented from gtsam::DiscreteFactor.

◆ error() [2/2]

double gtsam::TableFactor::error ( const HybridValues & values ) const

overridevirtual

Calculate error for HybridValues x, is -log(probability) Simply dispatches to DiscreteValues version.

Reimplemented from gtsam::DiscreteFactor.

◆ evaluate()

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

overridevirtual

Evaluate probability distribution, is just look up in TableFactor.

Implements gtsam::DiscreteFactor.

◆ html()

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

overridevirtual

Render as html table.

Parameters

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

Returns: std::string a html string.

Implements gtsam::DiscreteFactor.

◆ markdown()

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

overridevirtual

Render as markdown table.

Parameters

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

Returns: std::string a markdown string.

Implements gtsam::DiscreteFactor.

◆ max() [1/3]

double gtsam::TableFactor::max ( ) const

overridevirtual

Find the maximum value in the factor.

Implements gtsam::DiscreteFactor.

◆ max() [2/3]

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

overridevirtual

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

Implements gtsam::DiscreteFactor.

◆ max() [3/3]

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

overridevirtual

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

Implements gtsam::DiscreteFactor.

◆ multiply()

DiscreteFactor::shared_ptr gtsam::TableFactor::multiply ( const DiscreteFactor::shared_ptr & f ) const

overridevirtual

Multiply factors, DiscreteFactor::shared_ptr edition.

This method accepts DiscreteFactor::shared_ptr and uses dynamic dispatch and specializations to perform the most efficient multiplication.

While converting a DecisionTreeFactor to a TableFactor is efficient, the reverse is not. Hence we specialize the code to return a TableFactor always.

Parameters

f	The factor to multiply with.

Returns: DiscreteFactor::shared_ptr

Reimplemented from gtsam::DiscreteFactor.

◆ nrValues()

uint64_t gtsam::TableFactor::nrValues ( ) const

inlineoverridevirtual

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

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

Implements gtsam::DiscreteFactor.

◆ operator*() [1/2]

DecisionTreeFactor gtsam::TableFactor::operator* ( const DecisionTreeFactor & f ) const

overridevirtual

multiply with DecisionTreeFactor

Implements gtsam::DiscreteFactor.

◆ operator*() [2/2]

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

inlineoverridevirtual

multiply with a scalar

Implements gtsam::DiscreteFactor.

◆ operator/()

DiscreteFactor::shared_ptr gtsam::TableFactor::operator/ ( const DiscreteFactor::shared_ptr & f ) const

overridevirtual

divide by DiscreteFactor::shared_ptr f (safely)

Implements gtsam::DiscreteFactor.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::DiscreteFactor.

◆ prune()

TableFactor gtsam::TableFactor::prune ( size_t maxNrAssignments ) const

Prune the decision tree of discrete variables.

Pruning will set the values to be "pruned" to 0 indicating a 0 probability. An assignment is pruned if it is not in the top maxNrAssignments values.

A violation can occur if there are more duplicate values than maxNrAssignments. A violation here is the need to un-prune the decision tree (e.g. all assignment values are 1.0). We could have another case where some subset of duplicates exist (e.g. for a tree with 8 assignments we have 1, 1, 1, 1, 0.8, 0.7, 0.6, 0.5), but this is not a violation since the for maxNrAssignments=5 the top values are (1, 0.8).

Parameters

maxNrAssignments The maximum number of assignments to keep.

Returns: TableFactor

◆ restrict()

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

overridevirtual

Restrict the factor to the given assignment.

Implements gtsam::DiscreteFactor.

◆ sum() [1/2]

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

overridevirtual

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

Implements gtsam::DiscreteFactor.

◆ sum() [2/2]

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

overridevirtual

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

Implements gtsam::DiscreteFactor.

◆ toDecisionTreeFactor()

DecisionTreeFactor gtsam::TableFactor::toDecisionTreeFactor ( ) const

overridevirtual

Convert into a decisiontree.

Implements gtsam::DiscreteFactor.

◆ toTableFactor()

TableFactor gtsam::TableFactor::toTableFactor ( ) const

inlineoverridevirtual

Return this sparse table representation.

Reimplemented from gtsam::DiscreteFactor.

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

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

Detailed Description

Testable

Public Member Functions

Static Public Member Functions

Public Types

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ apply() [1/3]

◆ apply() [2/3]

◆ apply() [3/3]

◆ combine() [1/2]

◆ combine() [2/2]

◆ Convert()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ evaluate()

◆ html()

◆ markdown()

◆ max() [1/3]

◆ max() [2/3]

◆ max() [3/3]

◆ multiply()

◆ nrValues()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/()

◆ print()

◆ prune()

◆ restrict()

◆ sum() [1/2]

◆ sum() [2/2]

◆ toDecisionTreeFactor()

◆ toTableFactor()