Detailed Description

A discrete probabilistic factor.

Inheritance diagram for gtsam::DecisionTreeFactor:

Standard Interface
double	evaluate (const DiscreteValues &values) const
	Calculate probability for given values x, is just look up in AlgebraicDecisionTree.
double	operator() (const DiscreteValues &values) const override
	Evaluate probability density, sugar.
double	error (const DiscreteValues &values) const
	Calculate error for DiscreteValues x, is -log(probability).
DecisionTreeFactor	operator* (const DecisionTreeFactor &f) const override
	multiply two factors
size_t	cardinality (Key j) const
DecisionTreeFactor	operator/ (const DecisionTreeFactor &f) const
	divide by factor f (safely)
DecisionTreeFactor	toDecisionTreeFactor () const override
	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.
shared_ptr	max (const Ordering &keys) const
	Create new factor by maximizing over all values with the same separator.
static double	safe_div (const double &a, const double &b)

Public Member Functions
Standard Constructors
	DecisionTreeFactor ()
	Default constructor for I/O.
	DecisionTreeFactor (const DiscreteKeys &keys, const ADT &potentials)
	Constructor from DiscreteKeys and AlgebraicDecisionTree.
	DecisionTreeFactor (const DiscreteKeys &keys, const std::vector< double > &table)
	Constructor from doubles.
	DecisionTreeFactor (const DiscreteKeys &keys, const std::string &table)
	Constructor from string.
template<class SOURCE>
	DecisionTreeFactor (const DiscreteKey &key, SOURCE table)
	Single-key specialization.
	DecisionTreeFactor (const DiscreteKey &key, const std::vector< double > &row)
	Single-key specialization, with vector of doubles.
	DecisionTreeFactor (const DiscreteConditional &c)
	Construct from a DiscreteConditional type.
Testable
bool	equals (const DiscreteFactor &other, double tol=1e-9) const override
	equality
void	print (const std::string &s="DecisionTreeFactor:\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Advanced Interface
DecisionTreeFactor	apply (const DecisionTreeFactor &f, ADT::Binary op) const
	Apply binary operator (*this) "op" f.
shared_ptr	combine (size_t nrFrontals, ADT::Binary op) const
	Combine frontal variables using binary operator "op".
shared_ptr	combine (const Ordering &keys, ADT::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.
DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor.
DecisionTreeFactor	prune (size_t maxNrAssignments) const
	Prune the decision tree of discrete variables.
Wrapper support
void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const
	output to graphviz format, stream version
void	dot (const std::string &name, const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const
	output to graphviz format, open a file
std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const
	output to graphviz format string
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)
	Construct from container of keys.
virtual	~DiscreteFactor ()
	Virtual destructor.
void	print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
double	error (const DiscreteValues &values) const
	Error is just -log(value).
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
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.
Public Member Functions inherited from gtsam::AlgebraicDecisionTree< Key >
	AlgebraicDecisionTree (double leaf=1.0)
	AlgebraicDecisionTree (const Base &add)
	AlgebraicDecisionTree (const Key &label, double y1, double y2)
	Create a new leaf function splitting on a variable.
	AlgebraicDecisionTree (const typename Base::LabelC &labelC, double y1, double y2)
	Create a new leaf function splitting on a variable.
	AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::vector< double > &ys)
	Create from keys with cardinalities and a vector table.
	AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::string &table)
	Create from keys and string table.
	AlgebraicDecisionTree (Iterator begin, Iterator end, const Key &label)
	Create a range of decision trees, splitting on a single variable.
	AlgebraicDecisionTree (const AlgebraicDecisionTree< M > &other, const std::map< M, Key > &map)
	Convert labels from type M to type L.
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 Base::LabelC &labelC) const
	sum out variable
void	print (const std::string &s="", const typename Base::LabelFormatter &labelFormatter=&DefaultFormatter) const
	print method customized to value type double.
bool	equals (const AlgebraicDecisionTree &other, double tol=1e-9) const
	Equality method customized to value type double.
Public Member Functions inherited from gtsam::DecisionTree< L, Y >
	DecisionTree ()
	Default constructor (for serialization).
	DecisionTree (const Y &y)
	Create a constant.
	DecisionTree (const L &label, const Y &y1, const Y &y2)
	Create tree with 2 assignments y1, y2, splitting on variable label.
	DecisionTree (const LabelC &label, const Y &y1, const Y &y2)
	Allow Label+Cardinality for convenience.
	DecisionTree (const std::vector< LabelC > &labelCs, const std::vector< Y > &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.
template<typename Iterator>
	DecisionTree (Iterator begin, Iterator end, const L &label)
	Create DecisionTree from others.
	DecisionTree (const L &label, const DecisionTree &f0, const DecisionTree &f1)
	Create DecisionTree from two others.
template<typename X, typename Func>
	DecisionTree (const DecisionTree< L, X > &other, Func Y_of_X)
	Convert from a different value type.
template<typename M, typename X, typename Func>
	DecisionTree (const DecisionTree< M, X > &other, const std::map< M, L > &map, Func Y_of_X)
	Convert from a different value type X to value type Y, also transate labels via map from type M to L.
void	print (const std::string &s, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter) const
	GTSAM-style print.
bool	equals (const DecisionTree &other, const CompareFunc &compare=&DefaultCompare) const
virtual	~DecisionTree ()=default
	Make virtual.
bool	empty () const
	Check if tree is empty.
bool	operator== (const DecisionTree &q) const
	equality
const Y &	operator() (const Assignment< L > &x) const
	evaluate
template<typename Func>
void	visit (Func f) const
	Visit all leaves in depth-first fashion.
template<typename Func>
void	visitLeaf (Func f) const
	Visit all leaves in depth-first fashion.
template<typename Func>
void	visitWith (Func f) const
	Visit all leaves in depth-first fashion.
size_t	nrLeaves () const
	Return the number of leaves in the tree.
template<typename Func, typename X>
X	fold (Func f, X x0) const
	Fold a binary function over the tree, returning accumulator.
std::set< L >	labels () const
	Retrieve all unique labels as a set.
DecisionTree	apply (const Unary &op) const
	apply Unary operation "op" to f
DecisionTree	apply (const UnaryAssignment &op) const
	Apply Unary operation "op" to f while also providing the corresponding assignment.
DecisionTree	apply (const DecisionTree &g, const Binary &op) const
	apply binary operation "op" to f and g
DecisionTree	choose (const L &label, size_t index) const
	create a new function where value(label)==index It's like "restrict" in Darwiche09book pg329, 330?
DecisionTree	combine (const L &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, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
	output to graphviz format, stream version
void	dot (const std::string &name, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
	output to graphviz format, open a file
std::string	dot (const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
	output to graphviz format string
	DecisionTree (const NodePtr &root)
template<typename Iterator>
NodePtr	compose (Iterator begin, Iterator end, const L &label) const

Public Types
typedef DecisionTreeFactor	This
typedef DiscreteFactor	Base
	Typedef to base class.
typedef boost::shared_ptr< DecisionTreeFactor >	shared_ptr
typedef AlgebraicDecisionTree< Key >	ADT
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.
using	Values = DiscreteValues
	backwards compatibility
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.
Public Types inherited from gtsam::AlgebraicDecisionTree< Key >
using	Base
Public Types inherited from gtsam::DecisionTree< L, Y >
using	LabelFormatter = std::function<std::string(L)>
using	ValueFormatter = std::function<std::string(Y)>
using	CompareFunc = std::function<bool(const Y&, const Y&)>
using	Unary = std::function<Y(const Y&)>
	Handy typedefs for unary and binary function types.
using	UnaryAssignment = std::function<Y(const Assignment<L>&, const Y&)>
using	Binary = std::function<Y(const Y&, const Y&)>
using	LabelC = std::pair<L, size_t>
	A label annotated with cardinality.
using	NodePtr = typename Node::Ptr
	---------------------— Node base class ------------------------—

Protected Attributes
std::map< Key, size_t >	cardinalities_
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Attributes inherited from gtsam::DecisionTree< L, Y >
NodePtr	root_
	A DecisionTree just contains the root. TODO(dellaert): make protected.
	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.
Protected Member Functions inherited from gtsam::DecisionTree< L, Y >
template<typename It, typename ValueIt>
NodePtr	create (It begin, It end, ValueIt beginY, ValueIt endY) const
	Internal recursive function to create from keys, cardinalities, and Y values.
template<typename M, typename X>
NodePtr	convertFrom (const typename DecisionTree< M, X >::NodePtr &f, std::function< L(const M &)> L_of_M, std::function< Y(const X &)> Y_of_X) const
	Convert from a DecisionTree<M, X> to DecisionTree<L, Y>.
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.
Static Protected Member Functions inherited from gtsam::DecisionTree< L, Y >
static bool	DefaultCompare (const Y &a, const Y &b)
	Default method for comparison of two objects of type Y.

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/2]

gtsam::DecisionTreeFactor::DecisionTreeFactor	(	const DiscreteKeys &	keys,
		const std::vector< double > &	table )

Constructor from doubles.

Parameters

keys	The discrete keys.
table	The table of values.

Exceptions

std::invalid_argument if the size of table does not match the number of assignments.

Example:

DiscreteKey X(0,2), Y(1,3);
const std::vector<double> table {2, 5, 3, 6, 4, 7};
DecisionTreeFactor f1({X, Y}, table);

The values in the table should be laid out so that the first key varies the slowest, and the last key the fastest.

◆ DecisionTreeFactor() [2/2]

gtsam::DecisionTreeFactor::DecisionTreeFactor	(	const DiscreteKeys &	keys,
		const std::string &	table )

Constructor from string.

Parameters

keys	The discrete keys.
table	The table of values.

Exceptions

std::invalid_argument if the size of table does not match the number of assignments.

Example:

DiscreteKey X(0,2), Y(1,3);

DecisionTreeFactor factor({X, Y}, "2 5 3 6 4 7");

gtsam::DecisionTreeFactor::DecisionTreeFactor

DecisionTreeFactor()

Default constructor for I/O.

Definition DecisionTreeFactor.cpp:34

The values in the table should be laid out so that the first key varies the slowest, and the last key the fastest.

Member Function Documentation

◆ apply()

DecisionTreeFactor gtsam::DecisionTreeFactor::apply	(	const DecisionTreeFactor &	f,
		ADT::Binary	op ) const

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

Parameters

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

◆ combine() [1/2]

DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine	(	const Ordering &	keys,
		ADT::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 AlgebraicDecisionTree

Returns: shared pointer to newly created DecisionTreeFactor

◆ combine() [2/2]

DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine	(	size_t	nrFrontals,
		ADT::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 AlgebraicDecisionTree

Returns: shared pointer to newly created DecisionTreeFactor

◆ equals()

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

overridevirtual

equality

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::DiscreteConditional.

◆ error()

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

overridevirtual

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

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteConditional.

◆ html()

string gtsam::DecisionTreeFactor::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.

Reimplemented in gtsam::DiscreteConditional.

◆ markdown()

string gtsam::DecisionTreeFactor::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.

Reimplemented in gtsam::DiscreteConditional.

◆ operator()()

double gtsam::DecisionTreeFactor::operator() ( const DiscreteValues & values ) const

inlineoverridevirtual

Evaluate probability density, sugar.

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::DiscreteConditional.

◆ operator*()

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

inlineoverridevirtual

multiply two factors

Implements gtsam::DiscreteFactor.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteConditional, gtsam::DiscreteDistribution, and gtsam::DiscreteLookupTable.

◆ prune()

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

Prune the decision tree of discrete variables.

Pruning will set the leaves 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: DecisionTreeFactor

◆ toDecisionTreeFactor()

DecisionTreeFactor gtsam::DecisionTreeFactor::toDecisionTreeFactor ( ) const

inlineoverridevirtual

Convert into a decisiontree.

Implements gtsam::DiscreteFactor.

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

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DecisionTreeFactor.h
/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DecisionTreeFactor.cpp

Detailed Description

Standard Interface

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/2]

◆ DecisionTreeFactor() [2/2]

Member Function Documentation

◆ apply()

◆ combine() [1/2]

◆ combine() [2/2]

◆ equals()

◆ error()

◆ html()

◆ markdown()

◆ operator()()

◆ operator*()

◆ print()

◆ prune()

◆ toDecisionTreeFactor()