76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file DiscreteBayesNet.cpp
|
|
* @date Feb 15, 2011
|
|
* @author Duy-Nguyen Ta
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#include <gtsam/discrete/DiscreteBayesNet.h>
|
|
#include <gtsam/discrete/DiscreteConditional.h>
|
|
#include <gtsam/inference/FactorGraph-inst.h>
|
|
|
|
#include <boost/make_shared.hpp>
|
|
#include <boost/range/adaptor/reversed.hpp>
|
|
|
|
namespace gtsam {
|
|
|
|
// Instantiate base class
|
|
template class FactorGraph<DiscreteConditional>;
|
|
|
|
/* ************************************************************************* */
|
|
bool DiscreteBayesNet::equals(const This& bn, double tol) const
|
|
{
|
|
return Base::equals(bn, tol);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// void DiscreteBayesNet::add_front(const Signature& s) {
|
|
// push_front(boost::make_shared<DiscreteConditional>(s));
|
|
// }
|
|
|
|
/* ************************************************************************* */
|
|
void DiscreteBayesNet::add(const Signature& s) {
|
|
push_back(boost::make_shared<DiscreteConditional>(s));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
double DiscreteBayesNet::evaluate(const DiscreteConditional::Values & values) const {
|
|
// evaluate all conditionals and multiply
|
|
double result = 1.0;
|
|
for(DiscreteConditional::shared_ptr conditional: *this)
|
|
result *= (*conditional)(values);
|
|
return result;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
DiscreteFactor::sharedValues DiscreteBayesNet::optimize() const {
|
|
// solve each node in turn in topological sort order (parents first)
|
|
DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
|
|
for (auto conditional: boost::adaptors::reverse(*this))
|
|
conditional->solveInPlace(*result);
|
|
return result;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
DiscreteFactor::sharedValues DiscreteBayesNet::sample() const {
|
|
// sample each node in turn in topological sort order (parents first)
|
|
DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
|
|
for (auto conditional: boost::adaptors::reverse(*this))
|
|
conditional->sampleInPlace(*result);
|
|
return result;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
} // namespace
|