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added doc for disceteKey in .h file, formatted in Google style.

release/4.3a0
Yoonwoo Kim 2023-05-29 01:17:50 +09:00
parent 361f9fa391
commit 7b3ce2fe34
2 changed files with 702 additions and 694 deletions
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47
gtsam/discrete/TableFactor.cpp
View File

@ -16,10 +16,10 @@
* @author Yoonwoo Kim * @author Yoonwoo Kim
*/ */
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/base/FastSet.h> #include <gtsam/base/FastSet.h>
#include <gtsam/hybrid/HybridValues.h> #include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/discrete/TableFactor.h> #include <gtsam/discrete/TableFactor.h>
#include <gtsam/hybrid/HybridValues.h>
#include <boost/format.hpp> #include <boost/format.hpp>
#include <utility> #include <utility>
@ -84,8 +84,7 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
bool TableFactor::equals(const DiscreteFactor& other, bool TableFactor::equals(const DiscreteFactor& other, double tol) const {
double tol) const {
if (!dynamic_cast<const TableFactor*>(&other)) { if (!dynamic_cast<const TableFactor*>(&other)) {
return false; return false;
} else { } else {
@ -105,7 +104,6 @@ namespace gtsam {
card *= it->second; card *= it->second;
} }
return sparse_table_.coeff(idx); return sparse_table_.coeff(idx);
} }
/* ************************************************************************ */ /* ************************************************************************ */
@ -165,8 +163,9 @@ namespace gtsam {
// Find child DiscreteKeys // Find child DiscreteKeys
DiscreteKeys child_dkeys; DiscreteKeys child_dkeys;
std::sort(parent_keys.begin(), parent_keys.end()); std::sort(parent_keys.begin(), parent_keys.end());
std::set_difference(sorted_dkeys_.begin(), sorted_dkeys_.end(), parent_keys.begin(), std::set_difference(sorted_dkeys_.begin(), sorted_dkeys_.end(),
parent_keys.end(), std::back_inserter(child_dkeys)); parent_keys.begin(), parent_keys.end(),
std::back_inserter(child_dkeys));
// Create child sparse table to populate. // Create child sparse table to populate.
uint64_t child_card = 1; uint64_t child_card = 1;
@ -274,15 +273,15 @@ namespace gtsam {
DiscreteKeys TableFactor::unionDkeys(const TableFactor& f) const { DiscreteKeys TableFactor::unionDkeys(const TableFactor& f) const {
// Find union modes. // Find union modes.
DiscreteKeys union_dkeys; DiscreteKeys union_dkeys;
set_union(sorted_dkeys_.begin(), sorted_dkeys_.end(), set_union(sorted_dkeys_.begin(), sorted_dkeys_.end(), f.sorted_dkeys_.begin(),
f.sorted_dkeys_.begin(), f.sorted_dkeys_.end(), f.sorted_dkeys_.end(), back_inserter(union_dkeys));
back_inserter(union_dkeys));
return union_dkeys; return union_dkeys;
} }
/* ************************************************************************ */ /* ************************************************************************ */
uint64_t TableFactor::unionRep(const DiscreteKeys& union_keys, uint64_t TableFactor::unionRep(const DiscreteKeys& union_keys,
const DiscreteValues& f_free, const uint64_t idx) const { const DiscreteValues& f_free,
const uint64_t idx) const {
uint64_t union_idx = 0, card = 1; uint64_t union_idx = 0, card = 1;
for (auto it = union_keys.rbegin(); it != union_keys.rend(); it++) { for (auto it = union_keys.rbegin(); it != union_keys.rend(); it++) {
if (f_free.find(it->first) == f_free.end()) { if (f_free.find(it->first) == f_free.end()) {
@ -306,8 +305,8 @@ namespace gtsam {
uint64_t unique_rep = uniqueRep(contract, it.index()); uint64_t unique_rep = uniqueRep(contract, it.index());
// 4. Create assignment for free modes. // 4. Create assignment for free modes.
DiscreteValues free_assignments; DiscreteValues free_assignments;
for (auto& key : free) free_assignments[key.first] for (auto& key : free)
= keyValueForIndex(key.first, it.index()); free_assignments[key.first] = keyValueForIndex(key.first, it.index());
// 5. Populate map. // 5. Populate map.
if (map_f.find(unique_rep) == map_f.end()) { if (map_f.find(unique_rep) == map_f.end()) {
map_f[unique_rep] = {make_pair(free_assignments, it.value())}; map_f[unique_rep] = {make_pair(free_assignments, it.value())};
@ -319,7 +318,8 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
uint64_t TableFactor::uniqueRep(const DiscreteKeys& dkeys, const uint64_t idx) const { uint64_t TableFactor::uniqueRep(const DiscreteKeys& dkeys,
const uint64_t idx) const {
if (dkeys.empty()) return 0; if (dkeys.empty()) return 0;
uint64_t unique_rep = 0, card = 1; uint64_t unique_rep = 0, card = 1;
for (auto it = dkeys.rbegin(); it != dkeys.rend(); it++) { for (auto it = dkeys.rbegin(); it != dkeys.rend(); it++) {
@ -350,8 +350,8 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
TableFactor::shared_ptr TableFactor::combine( TableFactor::shared_ptr TableFactor::combine(size_t nrFrontals,
size_t nrFrontals, Binary op) const { Binary op) const {
if (nrFrontals > size()) { if (nrFrontals > size()) {
throw invalid_argument( throw invalid_argument(
"TableFactor::combine: invalid number of frontal " "TableFactor::combine: invalid number of frontal "
@ -381,14 +381,14 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
TableFactor::shared_ptr TableFactor::combine( TableFactor::shared_ptr TableFactor::combine(const Ordering& frontalKeys,
const Ordering& frontalKeys, Binary op) const { Binary op) const {
if (frontalKeys.size() > size()) { if (frontalKeys.size() > size()) {
throw invalid_argument( throw invalid_argument(
"TableFactor::combine: invalid number of frontal " "TableFactor::combine: invalid number of frontal "
"keys " + "keys " +
std::to_string(frontalKeys.size()) + ", nr.keys=" + std::to_string(frontalKeys.size()) +
std::to_string(size())); ", nr.keys=" + std::to_string(size()));
} }
// Find remaining keys. // Find remaining keys.
DiscreteKeys remain_dkeys; DiscreteKeys remain_dkeys;
@ -422,8 +422,7 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
std::vector<std::pair<DiscreteValues, double>> TableFactor::enumerate() std::vector<std::pair<DiscreteValues, double>> TableFactor::enumerate() const {
const {
// Get all possible assignments // Get all possible assignments
std::vector<std::pair<Key, size_t>> pairs = discreteKeys(); std::vector<std::pair<Key, size_t>> pairs = discreteKeys();
// Reverse to make cartesian product output a more natural ordering. // Reverse to make cartesian product output a more natural ordering.
@ -529,8 +528,8 @@ namespace gtsam {
if (probabilities.size() <= N) return *this; if (probabilities.size() <= N) return *this;
// Sort the vector in descending order based on the element values. // Sort the vector in descending order based on the element values.
sort(probabilities.begin(), probabilities.end(), [] ( sort(probabilities.begin(), probabilities.end(),
const std::pair<Eigen::Index, double>& a, [](const std::pair<Eigen::Index, double>& a,
const std::pair<Eigen::Index, double>& b) { const std::pair<Eigen::Index, double>& b) {
return a.second > b.second; return a.second > b.second;
}); });

27
gtsam/discrete/TableFactor.h
View File

@ -23,8 +23,8 @@
#include <Eigen/Sparse> #include <Eigen/Sparse>
#include <algorithm> #include <algorithm>
#include <memory>
#include <map> #include <map>
#include <memory>
#include <stdexcept> #include <stdexcept>
#include <string> #include <string>
#include <utility> #include <utility>
@ -44,15 +44,20 @@ namespace gtsam {
*/ */
class GTSAM_EXPORT TableFactor : public DiscreteFactor { class GTSAM_EXPORT TableFactor : public DiscreteFactor {
protected: protected:
std::map<Key, size_t> cardinalities_; /// Map of Keys and their cardinalities. /// Map of Keys and their cardinalities.
Eigen::SparseVector<double> sparse_table_; /// SparseVector of nonzero probabilities. std::map<Key, size_t> cardinalities_;
/// SparseVector of nonzero probabilities.
Eigen::SparseVector<double> sparse_table_;
private: private:
std::map<Key, size_t> denominators_; /// Map of Keys and their denominators used in keyValueForIndex. /// Map of Keys and their denominators used in keyValueForIndex.
DiscreteKeys sorted_dkeys_; /// Sorted DiscreteKeys to use internally. std::map<Key, size_t> denominators_;
/// Sorted DiscreteKeys to use internally.
DiscreteKeys sorted_dkeys_;
/** /**
* @brief Uses lazy cartesian product to find nth entry in the cartesian product of arrays in O(1) * @brief Uses lazy cartesian product to find nth entry in the cartesian
* product of arrays in O(1)
* Example) * Example)
* v0 | v1 | val * v0 | v1 | val
* 0 | 0 | 10 * 0 | 0 | 10
@ -66,6 +71,11 @@ namespace gtsam {
*/ */
size_t keyValueForIndex(Key target_key, uint64_t index) const; size_t keyValueForIndex(Key target_key, uint64_t index) const;
/**
* @brief Return ith key in keys_ as a DiscreteKey
* @param i ith key in keys_
* @return DiscreteKey
* */
DiscreteKey discreteKey(size_t i) const { DiscreteKey discreteKey(size_t i) const {
return DiscreteKey(keys_[i], cardinalities_.at(keys_[i])); return DiscreteKey(keys_[i], cardinalities_.at(keys_[i]));
} }
@ -131,7 +141,6 @@ namespace gtsam {
TableFactor(const DiscreteKey& key, const std::vector<double>& row) TableFactor(const DiscreteKey& key, const std::vector<double>& row)
: TableFactor(DiscreteKeys{key}, row) {} : TableFactor(DiscreteKeys{key}, row) {}
/// @} /// @}
/// @name Testable /// @name Testable
/// @{ /// @{
@ -228,8 +237,8 @@ namespace gtsam {
DiscreteKeys unionDkeys(const TableFactor& f) const; DiscreteKeys unionDkeys(const TableFactor& f) const;
/// Create unique representation of union modes. /// Create unique representation of union modes.
uint64_t unionRep(const DiscreteKeys& keys, uint64_t unionRep(const DiscreteKeys& keys, const DiscreteValues& assign,
const DiscreteValues& assign, const uint64_t idx) const; const uint64_t idx) const;
/// Create a hash map of input factor with assignment of contract modes as /// Create a hash map of input factor with assignment of contract modes as
/// keys and vector of hashed assignment of free modes and value as values. /// keys and vector of hashed assignment of free modes and value as values.