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gtsam::DiscreteDistribution Class Reference
Detailed Description
A prior probability on a set of discrete variables.
Derives from DiscreteConditional
Inheritance diagram for gtsam::DiscreteDistribution:
Public Member Functions | |
Standard Constructors | |
| DiscreteDistribution () | |
| Default constructor needed for serialization. | |
| DiscreteDistribution (const DecisionTreeFactor &f) | |
| Constructor from factor. | |
| DiscreteDistribution (const Signature &s) | |
| Construct from a Signature. | |
| DiscreteDistribution (const DiscreteKey &key, const std::vector< double > &spec) | |
| Construct from key and a vector of floats specifying the probability mass function (PMF). | |
| DiscreteDistribution (const DiscreteKey &key, const std::string &spec) | |
| Construct from key and a string specifying the probability mass function (PMF). | |
Testable | |
| void | print (const std::string &s="Discrete Prior: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| GTSAM-style print. | |
Standard interface | |
| double | operator() (size_t value) const |
| Evaluate given a single value. | |
| std::vector< double > | pmf () const |
| We also want to keep the Base version, taking DiscreteValues: | |
| Public Member Functions inherited from gtsam::DiscreteConditional | |
| DiscreteConditional () | |
| Default constructor needed for serialization. | |
| DiscreteConditional (size_t nFrontals, const DecisionTreeFactor &f) | |
| Construct from factor, taking the first nFrontals keys as frontals. | |
| DiscreteConditional (size_t nFrontals, const DiscreteKeys &keys, const ADT &potentials) | |
| Construct from DiscreteKeys and AlgebraicDecisionTree, taking the first nFrontals keys as frontals, in the order given. | |
| DiscreteConditional (const Signature &signature) | |
| Construct from signature. | |
| DiscreteConditional (const DiscreteKey &key, const DiscreteKeys &parents, const Signature::Table &table) | |
| Construct from key, parents, and a Signature::Table specifying the conditional probability table (CPT) in 00 01 10 11 order. | |
| DiscreteConditional (const DiscreteKey &key, const DiscreteKeys &parents, const std::string &spec) | |
| Construct from key, parents, and a string specifying the conditional probability table (CPT) in 00 01 10 11 order. | |
| DiscreteConditional (const DiscreteKey &key, const std::string &spec) | |
| No-parent specialization; can also use DiscreteDistribution. | |
| DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal) | |
| construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y). | |
| DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal, const Ordering &orderedKeys) | |
| construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y). | |
| DiscreteConditional | operator* (const DiscreteConditional &other) const |
| Combine two conditionals, yielding a new conditional with the union of the frontal keys, ordered by gtsam::Key. | |
| DiscreteConditional | marginal (Key key) const |
| Calculate marginal on given key, no parent case. | |
| bool | equals (const DiscreteFactor &other, double tol=1e-9) const override |
| GTSAM-style equals. | |
| double | logProbability (const DiscreteValues &x) const |
| Log-probability is just -error(x). | |
| void | printSignature (const std::string &s="Discrete Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print index signature only | |
| double | evaluate (const DiscreteValues &values) const |
| Evaluate, just look up in AlgebraicDecisonTree. | |
| shared_ptr | choose (const DiscreteValues &given) const |
| < DiscreteValues version | |
| DecisionTreeFactor::shared_ptr | likelihood (const DiscreteValues &frontalValues) const |
| Convert to a likelihood factor by providing value before bar. | |
| DecisionTreeFactor::shared_ptr | likelihood (size_t frontal) const |
| Single variable version of likelihood. | |
| size_t | sample (const DiscreteValues &parentsValues) const |
| sample | |
| size_t | sample (size_t parent_value) const |
| Single parent version. | |
| size_t | sample () const |
| Zero parent version. | |
| size_t | argmax () const |
| Return assignment that maximizes distribution. | |
| double | error (const DiscreteValues &values) const |
| Calculate error for DiscreteValues x, is -log(probability). | |
| double | error (const HybridValues &values) const override |
| Calculate error for HybridValues x, is -log(probability) Simply dispatches to DiscreteValues version. | |
| double | operator() (const DiscreteValues &values) const override |
| < DiscreteValues version | |
| void | sampleInPlace (DiscreteValues *parentsValues) const |
| sample in place, stores result in partial solution | |
| std::vector< DiscreteValues > | frontalAssignments () const |
| Return all assignments for frontal variables. | |
| std::vector< DiscreteValues > | allAssignments () const |
| Return all assignments for frontal and parent variables. | |
| 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. | |
| double | evaluate (const HybridValues &x) const override |
| Calculate probability for HybridValues x. | |
| double | logProbability (const HybridValues &x) const override |
| < HybridValues version | |
| double | logNormalizationConstant () const override |
| logNormalizationConstant K is just zero, such that logProbability(x) = log(evaluate(x)) = - error(x) and hence error(x) = - log(evaluate(x)) > 0 for all x. | |
| double | operator() (const HybridValues &x) const |
| Evaluate probability density, sugar. | |
| Public Member Functions inherited from gtsam::DecisionTreeFactor | |
| 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. | |
| 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. | |
| 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 | |
| double | evaluate (const DiscreteValues &values) const |
| Calculate probability for given values x, is just look up in AlgebraicDecisionTree. | |
| 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. | |
| 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 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 | |
| double | operator() (const HybridValues &x) const |
| Evaluate probability density, sugar. | |
| double | normalizationConstant () const |
| Non-virtual, exponentiate logNormalizationConstant. | |
| DecisionTreeFactor::const_iterator | beginFrontals () const |
| Iterator pointing to first frontal key. | |
| DecisionTreeFactor::const_iterator | endFrontals () const |
| Iterator pointing past the last frontal key. | |
| DecisionTreeFactor::const_iterator | beginParents () const |
| Iterator pointing to the first parent key. | |
| DecisionTreeFactor::const_iterator | endParents () const |
| Iterator pointing past the last parent key. | |
Public Types | |
| using | Base = DiscreteConditional |
| Public Types inherited from gtsam::DiscreteConditional | |
| 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. | |
| using | Values = DiscreteValues |
| backwards compatibility | |
| Public Types inherited from gtsam::DecisionTreeFactor | |
| 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 ------------------------— | |
| 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 | |
| static double | safe_div (const double &a, const double &b) |
| static bool | CheckInvariants (const DiscreteConditional &conditional, const VALUES &x) |
| Check invariants of this conditional, given the values x. | |
| Public Attributes inherited from gtsam::DecisionTree< L, Y > | |
| NodePtr | root_ |
| A DecisionTree just contains the root. TODO(dellaert): make protected. | |
| Protected Member Functions inherited from gtsam::DiscreteConditional | |
| DiscreteConditional::ADT | choose (const DiscreteValues &given, bool forceComplete) const |
| Internal version of choose. | |
| 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>. | |
| Protected Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional > | |
| Conditional () | |
| Empty Constructor to make serialization possible. | |
| 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. | |
| Protected Attributes inherited from gtsam::DecisionTreeFactor | |
| std::map< Key, size_t > | cardinalities_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
| Protected Attributes inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional > | |
| size_t | nrFrontals_ |
| The first nrFrontal variables are frontal and the rest are parents. | |
Constructor & Destructor Documentation
◆ DiscreteDistribution() [1/3]
|
inlineexplicit |
Construct from a Signature.
Example: DiscreteDistribution P(D % "3/2");
◆ DiscreteDistribution() [2/3]
|
inline |
Construct from key and a vector of floats specifying the probability mass function (PMF).
Example: DiscreteDistribution P(D, {0.4, 0.6});
◆ DiscreteDistribution() [3/3]
|
inline |
Construct from key and a string specifying the probability mass function (PMF).
Example: DiscreteDistribution P(D, "9/1 2/8 3/7 1/9");
Member Function Documentation
◆ pmf()
| std::vector< double > gtsam::DiscreteDistribution::pmf | ( | ) | const |
We also want to keep the Base version, taking DiscreteValues:
Return entire probability mass function.
◆ print()
|
overridevirtual |
GTSAM-style print.
Reimplemented from gtsam::DiscreteConditional.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DiscreteDistribution.h
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DiscreteDistribution.cpp
