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templates and typedefs: Factor, CONDITIONAL

release/4.3a0
Richard Roberts 2010-10-17 17:47:16 +00:00
parent b37346dffb
commit 6f2df1e036
5 changed files with 40 additions and 43 deletions
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48
inference/BayesNet-inl.h
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@ -17,6 +17,8 @@
#pragma once #pragma once
#include <gtsam/inference/BayesNet.h>
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
@ -28,40 +30,36 @@
#include <boost/assign/std/vector.hpp> // for += #include <boost/assign/std/vector.hpp> // for +=
using namespace boost::assign; using namespace boost::assign;
#include <gtsam/inference/BayesNet.h>
//#include "FactorGraph-inl.h"
#include "Conditional.h"
using namespace std; using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
void BayesNet<Conditional>::print(const string& s) const { void BayesNet<CONDITIONAL>::print(const string& s) const {
cout << s << ":\n"; cout << s << ":\n";
BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_) BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_)
conditional->print((boost::format("Node[%1%]") % conditional->key()).str()); conditional->print((boost::format("Node[%1%]") % conditional->key()).str());
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
bool BayesNet<Conditional>::equals(const BayesNet& cbn, double tol) const { bool BayesNet<CONDITIONAL>::equals(const BayesNet& cbn, double tol) const {
if(size() != cbn.size()) return false; if(size() != cbn.size()) return false;
return equal(conditionals_.begin(),conditionals_.end(),cbn.conditionals_.begin(),equals_star<Conditional>(tol)); return equal(conditionals_.begin(),conditionals_.end(),cbn.conditionals_.begin(),equals_star<CONDITIONAL>(tol));
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
void BayesNet<Conditional>::permuteWithInverse(const Permutation& inversePermutation) { void BayesNet<CONDITIONAL>::permuteWithInverse(const Permutation& inversePermutation) {
BOOST_FOREACH(sharedConditional conditional, conditionals_) { BOOST_FOREACH(sharedConditional conditional, conditionals_) {
conditional->permuteWithInverse(inversePermutation); conditional->permuteWithInverse(inversePermutation);
} }
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
bool BayesNet<Conditional>::permuteSeparatorWithInverse(const Permutation& inversePermutation) { bool BayesNet<CONDITIONAL>::permuteSeparatorWithInverse(const Permutation& inversePermutation) {
bool separatorChanged = false; bool separatorChanged = false;
BOOST_FOREACH(sharedConditional conditional, conditionals_) { BOOST_FOREACH(sharedConditional conditional, conditionals_) {
if(conditional->permuteSeparatorWithInverse(inversePermutation)) if(conditional->permuteSeparatorWithInverse(inversePermutation))
@ -71,22 +69,22 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
void BayesNet<Conditional>::push_back(const BayesNet<Conditional> bn) { void BayesNet<CONDITIONAL>::push_back(const BayesNet<CONDITIONAL> bn) {
BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
push_back(conditional); push_back(conditional);
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
void BayesNet<Conditional>::push_front(const BayesNet<Conditional> bn) { void BayesNet<CONDITIONAL>::push_front(const BayesNet<CONDITIONAL> bn) {
BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) BOOST_FOREACH(sharedConditional conditional,bn.conditionals_)
push_front(conditional); push_front(conditional);
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
list<Index> BayesNet<Conditional>::ordering() const { list<Index> BayesNet<CONDITIONAL>::ordering() const {
list<Index> ord; list<Index> ord;
BOOST_FOREACH(sharedConditional conditional,conditionals_) BOOST_FOREACH(sharedConditional conditional,conditionals_)
ord.push_back(conditional->key()); ord.push_back(conditional->key());
@ -94,8 +92,8 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
void BayesNet<Conditional>::saveGraph(const std::string &s) const { void BayesNet<CONDITIONAL>::saveGraph(const std::string &s) const {
ofstream of(s.c_str()); ofstream of(s.c_str());
of<< "digraph G{\n"; of<< "digraph G{\n";
BOOST_FOREACH(const_sharedConditional conditional,conditionals_) { BOOST_FOREACH(const_sharedConditional conditional,conditionals_) {
@ -110,10 +108,10 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional> template<class CONDITIONAL>
typename BayesNet<Conditional>::sharedConditional typename BayesNet<CONDITIONAL>::sharedConditional
BayesNet<Conditional>::operator[](Index key) const { BayesNet<CONDITIONAL>::operator[](Index key) const {
const_iterator it = find_if(conditionals_.begin(), conditionals_.end(), boost::lambda::bind(&Conditional::key, *boost::lambda::_1) == key); const_iterator it = find_if(conditionals_.begin(), conditionals_.end(), boost::lambda::bind(&CONDITIONAL::key, *boost::lambda::_1) == key);
if (it == conditionals_.end()) throw(invalid_argument((boost::format( if (it == conditionals_.end()) throw(invalid_argument((boost::format(
"BayesNet::operator['%1%']: not found") % key).str())); "BayesNet::operator['%1%']: not found") % key).str()));
return *it; return *it;

28
inference/BayesNet.h
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@ -19,16 +19,14 @@
#pragma once #pragma once
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/nvp.hpp>
//#include <boost/serialization/list.hpp>
//#include <boost/serialization/shared_ptr.hpp>
#include <gtsam/base/types.h> #include <gtsam/base/types.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/inference/Permutation.h> #include <gtsam/inference/Permutation.h>
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/nvp.hpp>
namespace gtsam { namespace gtsam {
/** /**
@ -37,16 +35,16 @@ namespace gtsam {
* corresponding to what is used for the "Conditional" template argument: * corresponding to what is used for the "Conditional" template argument:
* a SymbolicConditional, ConditionalProbabilityTable, or a GaussianConditional * a SymbolicConditional, ConditionalProbabilityTable, or a GaussianConditional
*/ */
template<class Conditional> template<class CONDITIONAL>
class BayesNet: public Testable<BayesNet<Conditional> > { class BayesNet: public Testable<BayesNet<CONDITIONAL> > {
public: public:
typedef typename boost::shared_ptr<BayesNet<Conditional> > shared_ptr; typedef typename boost::shared_ptr<BayesNet<CONDITIONAL> > shared_ptr;
/** We store shared pointers to Conditional densities */ /** We store shared pointers to Conditional densities */
typedef typename boost::shared_ptr<Conditional> sharedConditional; typedef typename boost::shared_ptr<CONDITIONAL> sharedConditional;
typedef typename boost::shared_ptr<const Conditional> const_sharedConditional; typedef typename boost::shared_ptr<const CONDITIONAL> const_sharedConditional;
typedef typename std::list<sharedConditional> Conditionals; typedef typename std::list<sharedConditional> Conditionals;
typedef typename Conditionals::const_iterator iterator; typedef typename Conditionals::const_iterator iterator;
@ -82,10 +80,10 @@ namespace gtsam {
} }
// push_back an entire Bayes net */ // push_back an entire Bayes net */
void push_back(const BayesNet<Conditional> bn); void push_back(const BayesNet<CONDITIONAL> bn);
// push_front an entire Bayes net */ // push_front an entire Bayes net */
void push_front(const BayesNet<Conditional> bn); void push_front(const BayesNet<CONDITIONAL> bn);
/** /**
* pop_front: remove node at the bottom, used in marginalization * pop_front: remove node at the bottom, used in marginalization
@ -117,13 +115,13 @@ namespace gtsam {
sharedConditional& front() { return conditionals_.front(); } sharedConditional& front() { return conditionals_.front(); }
/** return last node in ordering */ /** return last node in ordering */
boost::shared_ptr<const Conditional> front() const { return conditionals_.front(); } boost::shared_ptr<const CONDITIONAL> front() const { return conditionals_.front(); }
/** return last node in ordering */ /** return last node in ordering */
sharedConditional& back() { return conditionals_.back(); } sharedConditional& back() { return conditionals_.back(); }
/** return last node in ordering */ /** return last node in ordering */
boost::shared_ptr<const Conditional> back() const { return conditionals_.back(); } boost::shared_ptr<const CONDITIONAL> back() const { return conditionals_.back(); }
/** return iterators. FD: breaks encapsulation? */ /** return iterators. FD: breaks encapsulation? */
inline const_iterator const begin() const {return conditionals_.begin();} inline const_iterator const begin() const {return conditionals_.begin();}

4
inference/BayesTree.h
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@ -57,7 +57,7 @@ namespace gtsam {
weak_ptr parent_; weak_ptr parent_;
std::list<shared_ptr> children_; std::list<shared_ptr> children_;
std::list<Index> separator_; /** separator keys */ std::list<Index> separator_; /** separator keys */
typename Conditional::FactorType::shared_ptr cachedFactor_; typename Conditional::Factor::shared_ptr cachedFactor_;
friend class BayesTree<Conditional>; friend class BayesTree<Conditional>;
@ -87,7 +87,7 @@ namespace gtsam {
const std::list<shared_ptr>& children() const { return children_; } const std::list<shared_ptr>& children() const { return children_; }
/** Reference the cached factor */ /** Reference the cached factor */
typename Conditional::FactorType::shared_ptr& cachedFactor() { return cachedFactor_; } typename Conditional::Factor::shared_ptr& cachedFactor() { return cachedFactor_; }
/** The size of subtree rooted at this clique, i.e., nr of Cliques */ /** The size of subtree rooted at this clique, i.e., nr of Cliques */
size_t treeSize() const; size_t treeSize() const;

2
inference/Conditional.h
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@ -48,7 +48,7 @@ protected:
public: public:
/** convenience typename for a shared pointer to this class */ /** convenience typename for a shared pointer to this class */
typedef gtsam::Factor FactorType; typedef gtsam::Factor Factor;
typedef boost::shared_ptr<Conditional> shared_ptr; typedef boost::shared_ptr<Conditional> shared_ptr;
typedef Factor::iterator iterator; typedef Factor::iterator iterator;
typedef Factor::const_iterator const_iterator; typedef Factor::const_iterator const_iterator;

1
inference/inference-inl.h
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@ -33,6 +33,7 @@
#include <gtsam/inference/inference.h> #include <gtsam/inference/inference.h>
#include <gtsam/inference/FactorGraph-inl.h> #include <gtsam/inference/FactorGraph-inl.h>
#include <gtsam/inference/BayesNet-inl.h> #include <gtsam/inference/BayesNet-inl.h>
#include <gtsam/inference/Conditional.h>
using namespace std; using namespace std;