gtsam 4.1.1
gtsam
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Discrete Conditional Density Derives from DecisionTreeFactor.
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) | |
construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y) | |
DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal, const Ordering &orderedKeys) | |
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 override |
GTSAM-style print. More... | |
bool | equals (const DiscreteFactor &other, double tol=1e-9) const override |
GTSAM-style equals. More... | |
Standard Interface | |
void | printSignature (const std::string &s="Discrete Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print index signature only | |
double | operator() (const Values &values) const override |
Evaluate, just look up in AlgebraicDecisonTree. More... | |
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 override |
multiply two factors More... | |
DecisionTreeFactor | operator/ (const DecisionTreeFactor &f) const |
divide by factor f (safely) | |
DecisionTreeFactor | toDecisionTreeFactor () const override |
Convert into a decisiontree. More... | |
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. | |
void | print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
virtual bool | empty () const |
Test whether the factor is empty. | |
Public Member Functions inherited from gtsam::Factor | |
virtual | ~Factor ()=default |
Default destructor. | |
KeyVector & | keys () |
iterator | begin () |
Iterator at beginning of involved variable keys. | |
iterator | end () |
Iterator at end of involved variable keys. | |
virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print only keys More... | |
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, std::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 > | |
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 | |
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 | |
FACTOR::const_iterator | beginFrontals () const |
Iterator pointing to first frontal key. | |
FACTOR::const_iterator | endFrontals () const |
Iterator pointing past the last frontal key. | |
FACTOR::const_iterator | beginParents () const |
Iterator pointing to the first parent key. | |
FACTOR::const_iterator | endParents () const |
Iterator pointing past the last parent key. | |
size_t & | nrFrontals () |
Mutable version of nrFrontals. | |
FACTOR::iterator | beginFrontals () |
Mutable iterator pointing to first frontal key. | |
FACTOR::iterator | endFrontals () |
Mutable iterator pointing past the last frontal key. | |
FACTOR::iterator | beginParents () |
Mutable iterator pointing to the first parent key. | |
FACTOR::iterator | endParents () |
Mutable iterator pointing past the last parent key. | |
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 std::function< double(const double &)> | Unary |
Handy typedefs for unary and binary function types. | |
typedef std::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 FACTOR::const_iterator > | Frontals |
View of the frontal keys (call frontals()) | |
typedef boost::iterator_range< typename FACTOR::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, std::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. | |
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. | |
A map from keys to values.
TODO: Again, do we need this???
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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.
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>. |
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overridevirtual |
GTSAM-style equals.
Reimplemented from gtsam::DecisionTreeFactor.
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inlineoverridevirtual |
Evaluate, just look up in AlgebraicDecisonTree.
Reimplemented from gtsam::DecisionTreeFactor.
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overridevirtual |
GTSAM-style print.
Reimplemented from gtsam::DecisionTreeFactor.
size_t gtsam::DiscreteConditional::sample | ( | const Values & | parentsValues | ) | const |
sample
parentsValues | Known values of the parents |
size_t gtsam::DiscreteConditional::solve | ( | const Values & | parentsValues | ) | const |
solve a conditional
parentsValues | Known values of the parents |