Detailed Description

Discrete Conditional Density Derives from DecisionTreeFactor.

Inheritance diagram for gtsam::DiscreteConditional:

Standard Constructors
	DiscreteConditional ()
	default constructor needed for serialization

	DiscreteConditional (size_t nFrontals, const DecisionTreeFactor &f)
	constructor from factor

	DiscreteConditional (const Signature &signature)
	Construct from signature.

	DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal, const boost::optional< Ordering > &orderedKeys=boost::none)
	construct P(X\|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y)

template<typename ITERATOR >
static shared_ptr	Combine (ITERATOR firstConditional, ITERATOR lastConditional)
	Combine several conditional into a single one. More...

Public Member Functions
Testable
void	print (const std::string &s="Discrete Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const
	GTSAM-style print.

bool	equals (const DiscreteFactor &other, double tol=1e-9) const
	GTSAM-style equals.

Standard Interface
virtual double	operator() (const Values &values) const
	Evaluate, just look up in AlgebraicDecisonTree.

DecisionTreeFactor::shared_ptr	toFactor () const
	Convert to a factor.

ADT	choose (const Assignment< Key > &parentsValues) const
	Restrict to given parent values, returns AlgebraicDecisionDiagram.

size_t	solve (const Values &parentsValues) const
	solve a conditional More...

size_t	sample (const Values &parentsValues) const
	sample More...

Advanced Interface
void	solveInPlace (Values &parentsValues) const
	solve a conditional, in place

void	sampleInPlace (Values &parentsValues) const
	sample in place, stores result in partial solution

Public Member Functions inherited from gtsam::DecisionTreeFactor
	DecisionTreeFactor ()
	Default constructor for I/O.

	DecisionTreeFactor (const DiscreteKeys &keys, const ADT &potentials)
	Constructor from Indices, Ordering, and AlgebraicDecisionDiagram.

template<class SOURCE >
	DecisionTreeFactor (const DiscreteKeys &keys, SOURCE table)
	Constructor from Indices and (string or doubles)

	DecisionTreeFactor (const DiscreteConditional &c)
	Construct from a DiscreteConditional type.

DecisionTreeFactor	operator * (const DecisionTreeFactor &f) const
	multiply two factors

DecisionTreeFactor	operator/ (const DecisionTreeFactor &f) const
	divide by factor f (safely)

virtual DecisionTreeFactor	toDecisionTreeFactor () const
	Convert into a decisiontree.

shared_ptr	sum (size_t nrFrontals) const
	Create new factor by summing all values with the same separator values.

shared_ptr	sum (const Ordering &keys) const
	Create new factor by summing all values with the same separator values.

shared_ptr	max (size_t nrFrontals) const
	Create new factor by maximizing over all values with the same separator values.

DecisionTreeFactor	apply (const DecisionTreeFactor &f, ADT::Binary op) const
	Apply binary operator (*this) "op" f. More...

shared_ptr	combine (size_t nrFrontals, ADT::Binary op) const
	Combine frontal variables using binary operator "op". More...

shared_ptr	combine (const Ordering &keys, ADT::Binary op) const
	Combine frontal variables in an Ordering using binary operator "op". More...

Public Member Functions inherited from gtsam::DiscreteFactor
	DiscreteFactor ()
	Default constructor creates empty factor.

template<typename CONTAINER >
	DiscreteFactor (const CONTAINER &keys)
	Construct from container of keys. More...

virtual	~DiscreteFactor ()
	Virtual destructor.

virtual bool	empty () const
	Test whether the factor is empty.

Public Member Functions inherited from gtsam::Factor
KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

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

Public Member Functions inherited from gtsam::Potentials
GTSAM_EXPORT	Potentials ()
	Default constructor for I/O.

GTSAM_EXPORT	Potentials (const DiscreteKeys &keys, const ADT &decisionTree)
	Constructor from Indices and ADT.

template<class SOURCE >
	Potentials (const DiscreteKeys &keys, SOURCE table)
	Constructor from Indices and (string or doubles)

GTSAM_EXPORT bool	equals (const Potentials &other, double tol=1e-9) const

GTSAM_EXPORT void	print (const std::string &s="Potentials: ", const KeyFormatter &formatter=DefaultKeyFormatter) const

size_t	cardinality (Key j) const

Public Member Functions inherited from gtsam::AlgebraicDecisionTree< Key >
	AlgebraicDecisionTree (const Super &add)

	AlgebraicDecisionTree (const Key &label, double y1, double y2)
	Create a new leaf function splitting on a variable.

	AlgebraicDecisionTree (const typename Super::LabelC &labelC, double y1, double y2)
	Create a new leaf function splitting on a variable.

	AlgebraicDecisionTree (const std::vector< typename Super::LabelC > &labelCs, const std::vector< double > &ys)
	Create from keys and vector table.

	AlgebraicDecisionTree (const std::vector< typename Super::LabelC > &labelCs, const std::string &table)
	Create from keys and string table.

	AlgebraicDecisionTree (Iterator begin, Iterator end, const Key &label)
	Create a new function splitting on a variable.

	AlgebraicDecisionTree (const AlgebraicDecisionTree< M > &other, const std::map< M, Key > &map)
	Convert.

AlgebraicDecisionTree	operator+ (const AlgebraicDecisionTree &g) const
	sum

AlgebraicDecisionTree	operator * (const AlgebraicDecisionTree &g) const
	product

AlgebraicDecisionTree	operator/ (const AlgebraicDecisionTree &g) const
	division

AlgebraicDecisionTree	sum (const Key &label, size_t cardinality) const
	sum out variable

AlgebraicDecisionTree	sum (const typename Super::LabelC &labelC) const
	sum out variable

Public Member Functions inherited from gtsam::DecisionTree< Key, double >
	DecisionTree (const double &y)
	Create a constant.

	DecisionTree (const Key &label, const double &y1, const double &y2)
	Create a new leaf function splitting on a variable.

	DecisionTree (const LabelC &label, const double &y1, const double &y2)
	Allow Label+Cardinality for convenience.

	DecisionTree (const std::vector< LabelC > &labelCs, const std::vector< double > &ys)
	Create from keys and a corresponding vector of values.

	DecisionTree (const std::vector< LabelC > &labelCs, const std::string &table)
	Create from keys and string table.

	DecisionTree (Iterator begin, Iterator end, const Key &label)
	Create DecisionTree from others.

	DecisionTree (const Key &label, const DecisionTree &f0, const DecisionTree &f1)
	Create DecisionTree from two others.

	DecisionTree (const DecisionTree< M, X > &other, const std::map< M, Key > &map, boost::function< double(const X &)> op)
	Convert from a different type.

	DecisionTree (const NodePtr &root)

NodePtr	compose (Iterator begin, Iterator end, const Key &label) const

void	print (const std::string &s="DecisionTree") const
	GTSAM-style print.

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

virtual	~DecisionTree ()
	Make virtual.

bool	operator== (const DecisionTree &q) const
	equality

const double &	operator() (const Assignment< Key > &x) const
	evaluate

DecisionTree	apply (const Unary &op) const
	apply Unary operation "op" to f

DecisionTree	apply (const DecisionTree &g, const Binary &op) const
	apply binary operation "op" to f and g

DecisionTree	choose (const Key &label, size_t index) const
	create a new function where value(label)==index It's like "restrict" in Darwiche09book pg329, 330?

DecisionTree	combine (const Key &label, size_t cardinality, const Binary &op) const
	combine subtrees on key with binary operation "op"

DecisionTree	combine (const LabelC &labelC, const Binary &op) const
	combine with LabelC for convenience

void	dot (std::ostream &os, bool showZero=true) const
	output to graphviz format, stream version

void	dot (const std::string &name, bool showZero=true) const
	output to graphviz format, open a file

Public Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
size_t	nrFrontals () const
	return the number of frontals

size_t	nrParents () const
	return the number of parents

Key	firstFrontalKey () const
	Convenience function to get the first frontal key.

Frontals	frontals () const
	return a view of the frontal keys

Parents	parents () const
	return a view of the parent keys

DecisionTreeFactor ::const_iterator	beginFrontals () const
	Iterator pointing to first frontal key. More...

DecisionTreeFactor ::const_iterator	endFrontals () const
	Iterator pointing past the last frontal key. More...

DecisionTreeFactor ::const_iterator	beginParents () const
	Iterator pointing to the first parent key. More...

DecisionTreeFactor ::const_iterator	endParents () const
	Iterator pointing past the last parent key. More...

size_t &	nrFrontals ()
	Mutable version of nrFrontals.

DecisionTreeFactor ::iterator	beginFrontals ()
	Mutable iterator pointing to first frontal key. More...

DecisionTreeFactor ::iterator	endFrontals ()
	Mutable iterator pointing past the last frontal key. More...

DecisionTreeFactor ::iterator	beginParents ()
	Mutable iterator pointing to the first parent key. More...

DecisionTreeFactor ::iterator	endParents ()
	Mutable iterator pointing past the last parent key. More...

Public Types
typedef DiscreteConditional	This
	Typedef to this class.

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class

typedef DecisionTreeFactor	BaseFactor
	Typedef to our factor base class.

typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to our conditional base class.

typedef Assignment< Key >	Values
	A map from keys to values. More...

typedef boost::shared_ptr< Values >	sharedValues

Public Types inherited from gtsam::DecisionTreeFactor
typedef DecisionTreeFactor	This

typedef DiscreteFactor	Base
	Typedef to base class.

typedef boost::shared_ptr< DecisionTreeFactor >	shared_ptr

Public Types inherited from gtsam::DiscreteFactor
typedef DiscreteFactor	This
	This class.

typedef boost::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class

typedef Factor	Base
	Our base class.

typedef Assignment< Key >	Values
	A map from keys to values TODO: Do we need this? Should we just use gtsam::Values? We just need another special DiscreteValue to represent labels, However, all other Lie's operators are undefined in this class. More...

typedef boost::shared_ptr< Values >	sharedValues

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Types inherited from gtsam::Potentials
typedef AlgebraicDecisionTree< Key >	ADT

Public Types inherited from gtsam::AlgebraicDecisionTree< Key >
typedef DecisionTree< Key, double >	Super

Public Types inherited from gtsam::DecisionTree< Key, double >
typedef boost::function< double(const double &)>	Unary
	Handy typedefs for unary and binary function types.

typedef boost::function< double(const double &, const double &)>	Binary

typedef std::pair< Key, size_t >	LabelC
	A label annotated with cardinality.

typedef Node::Ptr	NodePtr
	---------------------— Node base class ------------------------— More...

Public Types inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
typedef boost::iterator_range< typename DecisionTreeFactor ::const_iterator >	Frontals
	View of the frontal keys (call frontals())

typedef boost::iterator_range< typename DecisionTreeFactor ::const_iterator >	Parents
	View of the separator keys (call parents())

Additional Inherited Members
Public Attributes inherited from gtsam::DecisionTree< Key, double >
NodePtr	root_

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

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

Protected Member Functions inherited from gtsam::Potentials
	Potentials (const ADT &potentials)
	Constructor from ColumnIndex, and ADT.

Protected Member Functions inherited from gtsam::DecisionTree< Key, double >
NodePtr	create (It begin, It end, ValueIt beginY, ValueIt endY) const
	Internal recursive function to create from keys, cardinalities, and Y values.

NodePtr	convert (const typename DecisionTree< M, X >::NodePtr &f, const std::map< M, Key > &map, boost::function< double(const X &)> op)
	Convert to a different type.

	DecisionTree ()
	Default constructor.

Protected Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
	Conditional ()
	Empty Constructor to make serialization possible.

	Conditional (size_t nrFrontals)
	Constructor.

void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print with optional formatter

bool	equals (const This &c, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Static Protected Member Functions inherited from gtsam::Potentials
static GTSAM_EXPORT double	safe_div (const double &a, const double &b)

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Protected Attributes inherited from gtsam::Potentials
std::map< Key, size_t >	cardinalities_
	Cardinality for each key, used in combine.

Protected Attributes inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
size_t	nrFrontals_
	The first nrFrontal variables are frontal and the rest are parents. More...

Member Typedef Documentation

◆ Values

typedef Assignment<Key> gtsam::DiscreteConditional::Values

A map from keys to values.

TODO: Again, do we need this???

Member Function Documentation

◆ Combine()

template<typename ITERATOR >

DiscreteConditional::shared_ptr gtsam::DiscreteConditional::Combine	(	ITERATOR	firstConditional,
		ITERATOR	lastConditional
	)

static

Combine several conditional into a single one.

The conditionals must be given in increasing order, meaning that the parents of any conditional may not include a conditional coming before it.

Parameters

firstConditional	Iterator to the first conditional to combine, must dereference to a shared_ptr<DiscreteConditional>.
lastConditional	Iterator to after the last conditional to combine, must dereference to a shared_ptr<DiscreteConditional>.

◆ sample()

size_t gtsam::DiscreteConditional::sample ( const Values & parentsValues ) const

sample

Parameters

parentsValues Known values of the parents

Returns: sample from conditional

◆ solve()

size_t gtsam::DiscreteConditional::solve ( const Values & parentsValues ) const

solve a conditional

Parameters

parentsValues Known values of the parents

Returns: MPE value of the child (1 frontal variable).

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

/Users/dellaert/git/gtsam/gtsam/discrete/DiscreteConditional.h
/Users/dellaert/git/gtsam/gtsam/discrete/DiscreteConditional.cpp

Detailed Description

Standard Constructors

Public Member Functions

Public Types

Additional Inherited Members

Member Typedef Documentation

◆ Values

Member Function Documentation

◆ Combine()

◆ sample()

◆ solve()