#include <DecisionTreeFactor.h>
Public Types | |
typedef AlgebraicDecisionTree< Key > | ADT |
typedef DiscreteFactor | Base |
Typedef to base class. More... | |
typedef std::shared_ptr< DecisionTreeFactor > | shared_ptr |
typedef DecisionTreeFactor | This |
Public Types inherited from gtsam::DiscreteFactor | |
typedef Factor | Base |
Our base class. More... | |
typedef std::shared_ptr< DiscreteFactor > | shared_ptr |
shared_ptr to this class More... | |
typedef DiscreteFactor | This |
This class. More... | |
using | Values = DiscreteValues |
backwards compatibility More... | |
using | Names = DiscreteValues::Names |
Translation table from values to strings. More... | |
Public Types inherited from gtsam::Factor | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. More... | |
typedef KeyVector::iterator | iterator |
Iterator over keys. More... | |
Public Types inherited from gtsam::AlgebraicDecisionTree< Key > | |
using | Base = DecisionTree< Key, double > |
Public Types inherited from gtsam::DecisionTree< Key, double > | |
using | Binary = std::function< double(const double &, const double &)> |
using | CompareFunc = std::function< bool(const double &, const double &)> |
using | LabelC = std::pair< Key, size_t > |
using | LabelFormatter = std::function< std::string(Key)> |
using | NodePtr = typename Node::Ptr |
using | Unary = std::function< double(const double &)> |
using | UnaryAssignment = std::function< double(const Assignment< Key > &, const double &)> |
using | ValueFormatter = std::function< std::string(double)> |
Public Member Functions | |
Standard Constructors | |
DecisionTreeFactor () | |
DecisionTreeFactor (const DiscreteKeys &keys, const ADT &potentials) | |
DecisionTreeFactor (const DiscreteKeys &keys, const std::vector< double > &table) | |
Constructor from doubles. More... | |
DecisionTreeFactor (const DiscreteKeys &keys, const std::string &table) | |
Constructor from string. More... | |
template<class SOURCE > | |
DecisionTreeFactor (const DiscreteKey &key, SOURCE table) | |
Single-key specialization. More... | |
DecisionTreeFactor (const DiscreteKey &key, const std::vector< double > &row) | |
Single-key specialization, with vector of doubles. More... | |
DecisionTreeFactor (const DiscreteConditional &c) | |
Testable | |
bool | equals (const DiscreteFactor &other, double tol=1e-9) const override |
equality More... | |
void | print (const std::string &s="DecisionTreeFactor:\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
Advanced Interface | |
DecisionTreeFactor | apply (ADT::Unary op) const |
DecisionTreeFactor | apply (ADT::UnaryAssignment op) const |
DecisionTreeFactor | apply (const DecisionTreeFactor &f, ADT::Binary op) const |
shared_ptr | combine (size_t nrFrontals, ADT::Binary op) const |
shared_ptr | combine (const Ordering &keys, ADT::Binary op) const |
std::vector< std::pair< DiscreteValues, double > > | enumerate () const |
Enumerate all values into a map from values to double. More... | |
std::vector< double > | probabilities () const |
Get all the probabilities in order of assignment values. More... | |
DecisionTreeFactor | prune (size_t maxNrAssignments) const |
Prune the decision tree of discrete variables. More... | |
Wrapper support | |
void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const |
void | dot (const std::string &name, const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const |
std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, bool showZero=true) const |
std::string | markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override |
Render as markdown table. More... | |
std::string | html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override |
Render as html table. More... | |
HybridValues methods. | |
double | error (const HybridValues &values) const override |
Public Member Functions inherited from gtsam::DiscreteFactor | |
DiscreteFactor () | |
template<typename CONTAINER > | |
DiscreteFactor (const CONTAINER &keys, const std::map< Key, size_t > cardinalities={}) | |
void | print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
DiscreteKeys | discreteKeys () const |
Return all the discrete keys associated with this factor. More... | |
std::map< Key, size_t > | cardinalities () const |
size_t | cardinality (Key j) const |
double | error (const HybridValues &c) const override |
virtual AlgebraicDecisionTree< Key > | errorTree () const |
Compute error for each assignment and return as a tree. More... | |
Public Member Functions inherited from gtsam::Factor | |
virtual | ~Factor ()=default |
Default destructor. More... | |
bool | empty () const |
Whether the factor is empty (involves zero variables). More... | |
Key | front () const |
First key. More... | |
Key | back () const |
Last key. More... | |
const_iterator | find (Key key) const |
find More... | |
const KeyVector & | keys () const |
Access the factor's involved variable keys. More... | |
const_iterator | begin () const |
const_iterator | end () const |
size_t | size () const |
virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print only keys More... | |
bool | equals (const This &other, double tol=1e-9) const |
check equality More... | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
Public Member Functions inherited from gtsam::AlgebraicDecisionTree< Key > | |
AlgebraicDecisionTree (const AlgebraicDecisionTree< M > &other, const std::map< M, Key > &map) | |
AlgebraicDecisionTree (const Base &add) | |
AlgebraicDecisionTree (const DecisionTree< Key, X > &other, Func f) | |
Create from an arbitrary DecisionTree<L, X> by operating on it with a functional f . More... | |
AlgebraicDecisionTree (const Key &label, double y1, double y2) | |
AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::string &table) | |
Create from keys and string table. More... | |
AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::vector< double > &ys) | |
Create from keys with cardinalities and a vector table. More... | |
AlgebraicDecisionTree (const typename Base::LabelC &labelC, double y1, double y2) | |
Create a new leaf function splitting on a variable. More... | |
AlgebraicDecisionTree (double leaf=1.0) | |
AlgebraicDecisionTree (Iterator begin, Iterator end, const Key &label) | |
Create a range of decision trees, splitting on a single variable. More... | |
bool | equals (const AlgebraicDecisionTree &other, double tol=1e-9) const |
Equality method customized to value type double . More... | |
double | max () const |
Find the maximum values amongst all leaves. More... | |
double | min () const |
Find the minimum values amongst all leaves. More... | |
AlgebraicDecisionTree | normalize () const |
Helper method to perform normalization such that all leaves in the tree sum to 1. More... | |
AlgebraicDecisionTree | operator* (const AlgebraicDecisionTree &g) const |
AlgebraicDecisionTree | operator+ (const AlgebraicDecisionTree &g) const |
AlgebraicDecisionTree | operator- () const |
AlgebraicDecisionTree | operator- (const AlgebraicDecisionTree &g) const |
AlgebraicDecisionTree | operator/ (const AlgebraicDecisionTree &g) const |
void | print (const std::string &s="", const typename Base::LabelFormatter &labelFormatter=&DefaultFormatter) const |
print method customized to value type double . More... | |
double | sum () const |
Compute sum of all values. More... | |
AlgebraicDecisionTree | sum (const Key &label, size_t cardinality) const |
AlgebraicDecisionTree | sum (const typename Base::LabelC &labelC) const |
Public Member Functions inherited from gtsam::DecisionTree< Key, double > | |
DecisionTree () | |
DecisionTree (const double &y) | |
DecisionTree (const Key &label, const double &y1, const double &y2) | |
Create tree with 2 assignments y1 , y2 , splitting on variable label More... | |
DecisionTree (const LabelC &label, const double &y1, const double &y2) | |
DecisionTree (const std::vector< LabelC > &labelCs, const std::vector< double > &ys) | |
DecisionTree (const std::vector< LabelC > &labelCs, const std::string &table) | |
DecisionTree (Iterator begin, Iterator end, const Key &label) | |
DecisionTree (const Key &label, const DecisionTree &f0, const DecisionTree &f1) | |
DecisionTree (const Unary &op, DecisionTree &&other) noexcept | |
Move constructor for DecisionTree. Very efficient as does not allocate anything, just changes in-place. But other is consumed. More... | |
DecisionTree (const DecisionTree< Key, X > &other, Func Y_of_X) | |
Convert from a different value type. More... | |
DecisionTree (const DecisionTree< M, X > &other, const std::map< M, Key > &map, Func Y_of_X) | |
Convert from a different value type X to value type Y, also translate labels via map from type M to L. More... | |
void | print (const std::string &s, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter) const |
GTSAM-style print. More... | |
bool | equals (const DecisionTree &other, const CompareFunc &compare=&DefaultCompare) const |
virtual | ~DecisionTree ()=default |
Make virtual. More... | |
bool | empty () const |
Check if tree is empty. More... | |
bool | operator== (const DecisionTree &q) const |
const double & | operator() (const Assignment< Key > &x) const |
void | visit (Func f) const |
Visit all leaves in depth-first fashion. More... | |
void | visitLeaf (Func f) const |
Visit all leaves in depth-first fashion. More... | |
void | visitWith (Func f) const |
Visit all leaves in depth-first fashion. More... | |
size_t | nrLeaves () const |
Return the number of leaves in the tree. More... | |
X | fold (Func f, X x0) const |
Fold a binary function over the tree, returning accumulator. More... | |
std::set< Key > | labels () const |
DecisionTree | apply (const Unary &op) const |
DecisionTree | apply (const UnaryAssignment &op) const |
Apply Unary operation "op" to f while also providing the corresponding assignment. More... | |
DecisionTree | apply (const DecisionTree &g, const Binary &op) const |
DecisionTree | choose (const Key &label, size_t index) const |
DecisionTree | combine (const Key &label, size_t cardinality, const Binary &op) const |
DecisionTree | combine (const LabelC &labelC, const Binary &op) const |
void | dot (std::ostream &os, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const |
void | dot (const std::string &name, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const |
std::string | dot (const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const |
std::pair< DecisionTree< Key, A >, DecisionTree< Key, B > > | split (std::function< std::pair< A, B >(const double &)> AB_of_Y) const |
Convert into two trees with value types A and B. More... | |
DecisionTree (const NodePtr &root) | |
Standard Interface | |
double | evaluate (const Assignment< Key > &values) const |
double | operator() (const DiscreteValues &values) const override |
Evaluate probability distribution, sugar. More... | |
double | error (const DiscreteValues &values) const override |
Calculate error for DiscreteValues x , is -log(probability). More... | |
DecisionTreeFactor | operator* (const DecisionTreeFactor &f) const override |
multiply two factors More... | |
DecisionTreeFactor | operator/ (const DecisionTreeFactor &f) const |
divide by factor f (safely) More... | |
DecisionTreeFactor | toDecisionTreeFactor () const override |
Convert into a decision tree. More... | |
shared_ptr | sum (size_t nrFrontals) const |
Create new factor by summing all values with the same separator values. More... | |
shared_ptr | sum (const Ordering &keys) const |
Create new factor by summing all values with the same separator values. More... | |
shared_ptr | max (size_t nrFrontals) const |
Create new factor by maximizing over all values with the same separator. More... | |
shared_ptr | max (const Ordering &keys) const |
Create new factor by maximizing over all values with the same separator. More... | |
static double | safe_div (const double &a, const double &b) |
Additional Inherited Members | |
Static Public Member Functions inherited from gtsam::DecisionTree< Key, double > | |
static NodePtr | compose (Iterator begin, Iterator end, const Key &label) |
Public Attributes inherited from gtsam::DecisionTree< Key, double > | |
NodePtr | root_ |
A DecisionTree just contains the root. TODO(dellaert): make protected. More... | |
Protected Member Functions inherited from gtsam::Factor | |
Factor () | |
template<typename CONTAINER > | |
Factor (const CONTAINER &keys) | |
template<typename ITERATOR > | |
Factor (ITERATOR first, ITERATOR last) | |
Static Protected Member Functions inherited from gtsam::Factor | |
template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
Static Protected Member Functions inherited from gtsam::DecisionTree< Key, double > | |
static NodePtr | build (It begin, It end, ValueIt beginY, ValueIt endY) |
static NodePtr | convertFrom (const typename DecisionTree< Key, X >::NodePtr &f, std::function< double(const X &)> Y_of_X) |
Convert from a DecisionTree<L, X> to DecisionTree<L, Y>. More... | |
static NodePtr | convertFrom (const typename DecisionTree< M, X >::NodePtr &f, std::function< Key(const M &)> L_of_M, std::function< double(const X &)> Y_of_X) |
Convert from a DecisionTree<M, X> to DecisionTree<L, Y>. More... | |
static NodePtr | create (It begin, It end, ValueIt beginY, ValueIt endY) |
static bool | DefaultCompare (const double &a, const double &b) |
Default method for comparison of two objects of type Y. More... | |
Protected Attributes inherited from gtsam::DiscreteFactor | |
std::map< Key, size_t > | cardinalities_ |
Map of Keys and their cardinalities. More... | |
Protected Attributes inherited from gtsam::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
A discrete probabilistic factor.
Definition at line 44 of file DecisionTreeFactor.h.
Definition at line 51 of file DecisionTreeFactor.h.
Typedef to base class.
Definition at line 49 of file DecisionTreeFactor.h.
typedef std::shared_ptr<DecisionTreeFactor> gtsam::DecisionTreeFactor::shared_ptr |
Definition at line 50 of file DecisionTreeFactor.h.
Definition at line 48 of file DecisionTreeFactor.h.
gtsam::DecisionTreeFactor::DecisionTreeFactor | ( | ) |
Default constructor for I/O
Definition at line 32 of file DecisionTreeFactor.cpp.
gtsam::DecisionTreeFactor::DecisionTreeFactor | ( | const DiscreteKeys & | keys, |
const ADT & | potentials | ||
) |
Constructor from DiscreteKeys and AlgebraicDecisionTree
Definition at line 35 of file DecisionTreeFactor.cpp.
gtsam::DecisionTreeFactor::DecisionTreeFactor | ( | const DiscreteKeys & | keys, |
const std::vector< double > & | table | ||
) |
Constructor from doubles.
keys | The discrete keys. |
table | The table of values. |
std::invalid_argument | if the size of table does not match the number of assignments. |
Example:
The values in the table should be laid out so that the first key varies the slowest, and the last key the fastest.
Definition at line 341 of file DecisionTreeFactor.cpp.
gtsam::DecisionTreeFactor::DecisionTreeFactor | ( | const DiscreteKeys & | keys, |
const std::string & | table | ||
) |
Constructor from string.
keys | The discrete keys. |
table | The table of values. |
std::invalid_argument | if the size of table does not match the number of assignments. |
Example:
The values in the table should be laid out so that the first key varies the slowest, and the last key the fastest.
Definition at line 347 of file DecisionTreeFactor.cpp.
|
inline |
Single-key specialization.
Definition at line 106 of file DecisionTreeFactor.h.
|
inline |
Single-key specialization, with vector of doubles.
Definition at line 110 of file DecisionTreeFactor.h.
|
explicit |
Construct from a DiscreteConditional type
Definition at line 40 of file DecisionTreeFactor.cpp.
DecisionTreeFactor gtsam::DecisionTreeFactor::apply | ( | ADT::Unary | op | ) | const |
Apply unary operator (*this) "op" f
op | a unary operator that operates on AlgebraicDecisionTree |
Definition at line 86 of file DecisionTreeFactor.cpp.
DecisionTreeFactor gtsam::DecisionTreeFactor::apply | ( | ADT::UnaryAssignment | op | ) | const |
Apply unary operator (*this) "op" f
op | a unary operator that operates on AlgebraicDecisionTree. Takes both the assignment and the value. |
Definition at line 94 of file DecisionTreeFactor.cpp.
DecisionTreeFactor gtsam::DecisionTreeFactor::apply | ( | const DecisionTreeFactor & | f, |
ADT::Binary | op | ||
) | const |
Apply binary operator (*this) "op" f
f | the second argument for op |
op | a binary operator that operates on AlgebraicDecisionTree |
Definition at line 102 of file DecisionTreeFactor.cpp.
DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine | ( | const Ordering & | keys, |
ADT::Binary | op | ||
) | const |
Combine frontal variables in an Ordering using binary operator "op"
nrFrontals | nr. of frontal to combine variables in this factor |
op | a binary operator that operates on AlgebraicDecisionTree |
Definition at line 148 of file DecisionTreeFactor.cpp.
DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine | ( | size_t | nrFrontals, |
ADT::Binary | op | ||
) | const |
Combine frontal variables using binary operator "op"
nrFrontals | nr. of frontal to combine variables in this factor |
op | a binary operator that operates on AlgebraicDecisionTree |
Definition at line 121 of file DecisionTreeFactor.cpp.
std::string gtsam::DecisionTreeFactor::dot | ( | const KeyFormatter & | keyFormatter = DefaultKeyFormatter , |
bool | showZero = true |
||
) | const |
output to graphviz format string
Definition at line 269 of file DecisionTreeFactor.cpp.
void gtsam::DecisionTreeFactor::dot | ( | const std::string & | name, |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter , |
||
bool | showZero = true |
||
) | const |
output to graphviz format, open a file
Definition at line 262 of file DecisionTreeFactor.cpp.
void gtsam::DecisionTreeFactor::dot | ( | std::ostream & | os, |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter , |
||
bool | showZero = true |
||
) | const |
output to graphviz format, stream version
Definition at line 255 of file DecisionTreeFactor.cpp.
std::vector< std::pair< DiscreteValues, double > > gtsam::DecisionTreeFactor::enumerate | ( | ) | const |
Enumerate all values into a map from values to double.
Definition at line 187 of file DecisionTreeFactor.cpp.
|
overridevirtual |
equality
Implements gtsam::DiscreteFactor.
Reimplemented in gtsam::DiscreteConditional.
Definition at line 45 of file DecisionTreeFactor.cpp.
|
overridevirtual |
Calculate error for DiscreteValues x
, is -log(probability).
Reimplemented from gtsam::DiscreteFactor.
Definition at line 56 of file DecisionTreeFactor.cpp.
|
overridevirtual |
Calculate error for HybridValues x
, is -log(probability) Simply dispatches to DiscreteValues version.
Reimplemented from gtsam::Factor.
Definition at line 61 of file DecisionTreeFactor.cpp.
|
inline |
Calculate probability for given values x
, is just look up in AlgebraicDecisionTree.
Definition at line 134 of file DecisionTreeFactor.h.
|
overridevirtual |
Render as html table.
keyFormatter | GTSAM-style Key formatter. |
names | optional, category names corresponding to choices. |
Implements gtsam::DiscreteFactor.
Reimplemented in gtsam::DiscreteConditional.
Definition at line 307 of file DecisionTreeFactor.cpp.
|
overridevirtual |
Render as markdown table.
keyFormatter | GTSAM-style Key formatter. |
names | optional, category names corresponding to choices. |
Implements gtsam::DiscreteFactor.
Reimplemented in gtsam::DiscreteConditional.
Definition at line 276 of file DecisionTreeFactor.cpp.
|
inline |
Create new factor by maximizing over all values with the same separator.
Definition at line 177 of file DecisionTreeFactor.h.
|
inline |
Create new factor by maximizing over all values with the same separator.
Definition at line 172 of file DecisionTreeFactor.h.
|
inlineoverridevirtual |
Evaluate probability distribution, sugar.
Implements gtsam::DiscreteFactor.
Definition at line 139 of file DecisionTreeFactor.h.
|
inlineoverridevirtual |
multiply two factors
Implements gtsam::DiscreteFactor.
Definition at line 147 of file DecisionTreeFactor.h.
|
inline |
divide by factor f (safely)
Definition at line 154 of file DecisionTreeFactor.h.
|
overridevirtual |
Reimplemented from gtsam::Factor.
Reimplemented in gtsam::DiscreteDistribution, gtsam::DiscreteLookupTable, and gtsam::DiscreteConditional.
Definition at line 74 of file DecisionTreeFactor.cpp.
std::vector< double > gtsam::DecisionTreeFactor::probabilities | ( | ) | const |
Get all the probabilities in order of assignment values.
Definition at line 204 of file DecisionTreeFactor.cpp.
DecisionTreeFactor gtsam::DecisionTreeFactor::prune | ( | size_t | maxNrAssignments | ) | const |
Prune the decision tree of discrete variables.
Pruning will set the leaves to be "pruned" to 0 indicating a 0 probability. An assignment is pruned if it is not in the top maxNrAssignments
values.
A violation can occur if there are more duplicate values than maxNrAssignments
. A violation here is the need to un-prune the decision tree (e.g. all assignment values are 1.0). We could have another case where some subset of duplicates exist (e.g. for a tree with 8 assignments we have 1, 1, 1, 1, 0.8, 0.7, 0.6, 0.5), but this is not a violation since the for maxNrAssignments=5
the top values are (1, 0.8).
maxNrAssignments | The maximum number of assignments to keep. |
Definition at line 353 of file DecisionTreeFactor.cpp.
|
static |
Definition at line 66 of file DecisionTreeFactor.cpp.
|
inline |
Create new factor by summing all values with the same separator values.
Definition at line 167 of file DecisionTreeFactor.h.
|
inline |
Create new factor by summing all values with the same separator values.
Definition at line 162 of file DecisionTreeFactor.h.
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inlineoverridevirtual |
Convert into a decision tree.
Implements gtsam::DiscreteFactor.
Definition at line 159 of file DecisionTreeFactor.h.