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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
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4
gtsam/discrete/DecisionTreeFactor.h
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@ -129,9 +129,9 @@ namespace gtsam {
/// @name Standard Interface /// @name Standard Interface
/// @{ /// @{
/// Calculate probability for given values `x`, /// Calculate probability for given values,
/// is just look up in AlgebraicDecisionTree. /// 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); return ADT::operator()(values);
} }

3
gtsam/discrete/DiscreteFactor.h
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@ -129,6 +129,9 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
virtual DiscreteFactor::shared_ptr operator/( virtual DiscreteFactor::shared_ptr operator/(
const DiscreteFactor::shared_ptr& f) const = 0; 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. * Get the number of non-zero values contained in this factor.
* It could be much smaller than `prod_{key}(cardinality(key))`. * It could be much smaller than `prod_{key}(cardinality(key))`.

2
gtsam/discrete/TableFactor.cpp
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@ -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 // a b c d => D * (C * (B * (a) + b) + c) + d
uint64_t idx = 0, card = 1; uint64_t idx = 0, card = 1;
for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) { for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) {

9
gtsam/discrete/TableFactor.h
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@ -169,14 +169,17 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
// /// @name Standard Interface // /// @name Standard Interface
// /// @{ // /// @{
/// Calculate probability for given values `x`, /// Calculate probability for given values,
/// is just look up in TableFactor. /// is just look up in TableFactor.
double evaluate(const DiscreteValues& values) const { double evaluate(const Assignment<Key>& values) const override {
return operator()(values); return operator()(values);
} }
/// Evaluate probability distribution, sugar. /// 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). /// Calculate error for DiscreteValues `x`, is -log(probability).
double error(const DiscreteValues& values) const override; double error(const DiscreteValues& values) const override;