BayesTree.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * 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/Key.h>
#include <gtsam/base/FastList.h>
#include <gtsam/base/ConcurrentMap.h>
#include <gtsam/base/FastVector.h>

#include <string>

namespace gtsam {

  // Forward declarations
  template<class FACTOR> class FactorGraph;
  template<class BAYESTREE, class GRAPH> class EliminatableClusterTree;

  /* ************************************************************************* */
  struct GTSAM_EXPORT BayesTreeCliqueStats {
    double avgConditionalSize;
    std::size_t maxConditionalSize;
    double avgSeparatorSize;
    std::size_t maxSeparatorSize;
    void print(const std::string& s = "") const ;
  };

  struct GTSAM_EXPORT BayesTreeCliqueData {
    FastVector<std::size_t> conditionalSizes;
    FastVector<std::size_t> separatorSizes;
    BayesTreeCliqueStats getStats() const;
  };

  /* ************************************************************************* */
  template<class CLIQUE>
  class BayesTree
  {
  protected:
    typedef BayesTree<CLIQUE> This;
    typedef boost::shared_ptr<This> shared_ptr;

  public:
    typedef CLIQUE Clique; 
    typedef boost::shared_ptr<Clique> sharedClique; 
    typedef Clique Node; 
    typedef sharedClique sharedNode; 
    typedef typename CLIQUE::ConditionalType ConditionalType;
    typedef boost::shared_ptr<ConditionalType> sharedConditional;
    typedef typename CLIQUE::BayesNetType BayesNetType;
    typedef boost::shared_ptr<BayesNetType> sharedBayesNet;
    typedef typename CLIQUE::FactorType FactorType;
    typedef boost::shared_ptr<FactorType> sharedFactor;
    typedef typename CLIQUE::FactorGraphType FactorGraphType;
    typedef boost::shared_ptr<FactorGraphType> sharedFactorGraph;
    typedef typename FactorGraphType::Eliminate Eliminate;
    typedef typename CLIQUE::EliminationTraitsType EliminationTraitsType;

    typedef FastList<sharedClique> Cliques;

    typedef ConcurrentMap<Key, sharedClique> Nodes;

  protected:

    Nodes nodes_;

    typedef FastVector<sharedClique> Roots;

    Roots roots_;


    BayesTree() {}

    BayesTree(const This& other);


    This& operator=(const This& other);


    bool equals(const This& other, double tol = 1e-9) const;

  public:
    void print(const std::string& s = "",
        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;


    size_t size() const;

    inline bool empty() const {
      return nodes_.empty();
    }

    const Nodes& nodes() const { return nodes_; }

    const sharedNode operator[](Key j) const { return nodes_.at(j); }

    const Roots& roots() const { return roots_;  }

    const sharedClique& clique(Key j) const {
      typename Nodes::const_iterator c = nodes_.find(j);
      if(c == nodes_.end())
        throw std::out_of_range("Requested the BayesTree clique for a key that is not in the BayesTree");
      else
        return c->second;
    }

    BayesTreeCliqueData getCliqueData() const;

    size_t numCachedSeparatorMarginals() const;

    sharedConditional marginalFactor(Key j, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;

    sharedFactorGraph joint(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;

    sharedBayesNet jointBayesNet(Key j1, Key j2, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;

    void saveGraph(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;


    template<class CONTAINER>
    Key findParentClique(const CONTAINER& parents) const;

    void clear();

    void deleteCachedShortcuts();

    void removePath(sharedClique clique, BayesNetType& bn, Cliques& orphans);

    void removeTop(const KeyVector& keys, BayesNetType& bn, Cliques& orphans);

    Cliques removeSubtree(const sharedClique& subtree);

    void insertRoot(const sharedClique& subtree);

    void addClique(const sharedClique& clique, const sharedClique& parent_clique = sharedClique());

    void addFactorsToGraph(FactorGraph<FactorType>& graph) const;

  protected:

    void saveGraph(std::ostream &s, sharedClique clique, const KeyFormatter& keyFormatter,
        int parentnum = 0) const;

    void getCliqueData(BayesTreeCliqueData& stats, sharedClique clique) const;

    void removeClique(sharedClique clique);

    void fillNodesIndex(const sharedClique& subtree);

    // Friend JunctionTree because it directly fills roots and nodes index.
    template<class BAYESRTEE, class GRAPH> friend class EliminatableClusterTree;

  private:
    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_NVP(nodes_);
      ar & BOOST_SERIALIZATION_NVP(roots_);
    }


  }; // BayesTree

  /* ************************************************************************* */
  template<class CLIQUE>
  class BayesTreeOrphanWrapper : public CLIQUE::ConditionalType
  {
  public:
    typedef CLIQUE CliqueType;
    typedef typename CLIQUE::ConditionalType Base;

    boost::shared_ptr<CliqueType> clique;

    BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique) :
      clique(clique)
    {
      // Store parent keys in our base type factor so that eliminating those parent keys will pull
      // this subtree into the elimination.
      this->keys_.assign(clique->conditional()->beginParents(), clique->conditional()->endParents());
    }

    void print(const std::string& s="", const KeyFormatter& formatter = DefaultKeyFormatter) const {
      clique->print(s + "stored clique", formatter);
    }
  };

}