DiscreteLookupDAG.h

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

 
#pragma once
 
#include <gtsam/discrete/DiscreteDistribution.h>
#include <gtsam/inference/BayesNet.h>
#include <gtsam/inference/FactorGraph.h>
 
#include <boost/shared_ptr.hpp>
#include <string>
#include <utility>
#include <vector>
 
namespace gtsam {
 
class DiscreteBayesNet;

class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
 public:
  using This = DiscreteLookupTable;
  using shared_ptr = boost::shared_ptr<This>;
  using BaseConditional = Conditional<DecisionTreeFactor, This>;

  DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
                      const ADT& potentials)
      : DiscreteConditional(nFrontals, keys, potentials) {}

  void print(
      const std::string& s = "Discrete Lookup Table: ",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override;

  size_t argmax(const DiscreteValues& parentsValues) const;

  void argmaxInPlace(DiscreteValues* parentsValues) const;
};

class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
 public:
  using Base = BayesNet<DiscreteLookupTable>;
  using This = DiscreteLookupDAG;
  using shared_ptr = boost::shared_ptr<This>;


  DiscreteLookupDAG() {}

  static DiscreteLookupDAG FromBayesNet(const DiscreteBayesNet& bayesNet);

  virtual ~DiscreteLookupDAG() {}



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



  template <typename... Args>
  void add(Args&&... args) {
    emplace_shared<DiscreteLookupTable>(std::forward<Args>(args)...);
  }

  DiscreteValues argmax(DiscreteValues given = DiscreteValues()) const;
 
 private:
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
};
 
// traits
template <>
struct traits<DiscreteLookupDAG> : public Testable<DiscreteLookupDAG> {};
 
}  // namespace gtsam