12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

make evaluate use the Assignment<Key> base class

release/4.3a0
Varun Agrawal 2024-12-07 18:29:13 -05:00
parent 2cd2ab0a43
commit 9f88a360df
4 changed files with 12 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/discrete/DecisionTreeFactor.h
View File

@ -129,9 +129,9 @@ namespace gtsam {
/// @name Standard Interface
/// @{
/// Calculate probability for given values `x`,
/// Calculate probability for given values,
/// is just look up in AlgebraicDecisionTree.
double evaluate(const Assignment<Key>& values) const {
double evaluate(const Assignment<Key>& values) const override {
return ADT::operator()(values);
}

3
gtsam/discrete/DiscreteFactor.h
View File

@ -129,6 +129,9 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
virtual DiscreteFactor::shared_ptr operator/(
const DiscreteFactor::shared_ptr& f) const = 0;
/// Calculate probability for given values
virtual double evaluate(const Assignment<Key>& values) const = 0;
/**
* Get the number of non-zero values contained in this factor.
* It could be much smaller than `prod_{key}(cardinality(key))`.

2
gtsam/discrete/TableFactor.cpp
View File

@ -135,7 +135,7 @@ bool TableFactor::equals(const DiscreteFactor& other, double tol) const {
}
/* ************************************************************************ */
double TableFactor::operator()(const DiscreteValues& values) const {
double TableFactor::operator()(const Assignment<Key>& values) const {
// a b c d => D * (C * (B * (a) + b) + c) + d
uint64_t idx = 0, card = 1;
for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) {

9
gtsam/discrete/TableFactor.h
View File

@ -169,14 +169,17 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
// /// @name Standard Interface
// /// @{
/// Calculate probability for given values `x`,
/// Calculate probability for given values,
/// is just look up in TableFactor.
double evaluate(const DiscreteValues& values) const {
double evaluate(const Assignment<Key>& values) const override {
return operator()(values);
}
/// Evaluate probability distribution, sugar.
double operator()(const DiscreteValues& values) const override;
double operator()(const Assignment<Key>& values) const;
double operator()(const DiscreteValues& values) const override {
return operator()(Assignment<Key>(values));
}
/// Calculate error for DiscreteValues `x`, is -log(probability).
double error(const DiscreteValues& values) const override;