#include <DiscreteConditional.h>

Inheritance diagram for gtsam::DiscreteConditional:

[legend]

Public Types
typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to our conditional base class. More...

typedef DecisionTreeFactor	BaseFactor
	Typedef to our factor base class. More...

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef boost::shared_ptr< Values >	sharedValues

typedef DiscreteConditional	This
	Typedef to this class. More...

typedef Assignment< Key >	Values

Public Types inherited from gtsam::DecisionTreeFactor
typedef DiscreteFactor	Base
	Typedef to base class. More...

typedef boost::shared_ptr< DecisionTreeFactor >	shared_ptr

typedef DecisionTreeFactor	This

Public Types inherited from gtsam::DiscreteFactor
typedef Factor	Base
	Our base class. More...

typedef boost::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class More...

typedef boost::shared_ptr< Values >	sharedValues

typedef DiscreteFactor	This
	This class. More...

typedef Assignment< Key >	Values

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::Potentials
typedef AlgebraicDecisionTree< Key >	ADT

Public Types inherited from gtsam::AlgebraicDecisionTree< Key >
typedef DecisionTree< Key, double >	Super

Public Types inherited from gtsam::DecisionTree< Key, double >
typedef boost::function< double(const double &, const double &)>	Binary

typedef std::pair< Key, size_t >	LabelC

typedef Node::Ptr	NodePtr

typedef boost::function< double(const double &)>	Unary

Public Types inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
typedef boost::iterator_range< typename DecisionTreeFactor::const_iterator >	Frontals

typedef boost::iterator_range< typename DecisionTreeFactor::const_iterator >	Parents

Public Member Functions
Testable
void	print (const std::string &s="Discrete Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	GTSAM-style print. More...

bool	equals (const DiscreteFactor &other, double tol=1e-9) const override
	GTSAM-style equals. More...

Standard Interface
void	printSignature (const std::string &s="Discrete Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print index signature only More...

double	operator() (const Values &values) const override
	Evaluate, just look up in AlgebraicDecisonTree. More...

DecisionTreeFactor::shared_ptr	toFactor () const

ADT	choose (const Assignment< Key > &parentsValues) const

size_t	solve (const Values &parentsValues) const

size_t	sample (const Values &parentsValues) const

Advanced Interface
void	solveInPlace (Values &parentsValues) const
	solve a conditional, in place More...

void	sampleInPlace (Values &parentsValues) const
	sample in place, stores result in partial solution More...

Public Member Functions inherited from gtsam::DecisionTreeFactor
	DecisionTreeFactor ()

	DecisionTreeFactor (const DiscreteKeys &keys, const ADT &potentials)

template<class SOURCE >
	DecisionTreeFactor (const DiscreteKeys &keys, SOURCE table)

	DecisionTreeFactor (const DiscreteConditional &c)

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 decisiontree. 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 values. More...

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

Public Member Functions inherited from gtsam::DiscreteFactor
	DiscreteFactor ()

template<typename CONTAINER >
	DiscreteFactor (const CONTAINER &keys)

virtual	~DiscreteFactor ()
	Virtual destructor. More...

void	print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print More...

virtual bool	empty () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys 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

Public Member Functions inherited from gtsam::Potentials
size_t	cardinality (Key j) const

GTSAM_EXPORT bool	equals (const Potentials &other, double tol=1e-9) const

GTSAM_EXPORT	Potentials ()

GTSAM_EXPORT	Potentials (const DiscreteKeys &keys, const ADT &decisionTree)

template<class SOURCE >
	Potentials (const DiscreteKeys &keys, SOURCE table)

GTSAM_EXPORT void	print (const std::string &s="Potentials: ", const KeyFormatter &formatter=DefaultKeyFormatter) const

Public Member Functions inherited from gtsam::AlgebraicDecisionTree< Key >
	AlgebraicDecisionTree ()

	AlgebraicDecisionTree (const Super &add)

	AlgebraicDecisionTree (const Key &label, double y1, double y2)

	AlgebraicDecisionTree (const typename Super::LabelC &labelC, double y1, double y2)

	AlgebraicDecisionTree (const std::vector< typename Super::LabelC > &labelCs, const std::vector< double > &ys)

	AlgebraicDecisionTree (const std::vector< typename Super::LabelC > &labelCs, const std::string &table)

	AlgebraicDecisionTree (Iterator begin, Iterator end, const Key &label)

	AlgebraicDecisionTree (const AlgebraicDecisionTree< M > &other, const std::map< M, Key > &map)

AlgebraicDecisionTree	operator* (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	operator+ (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	operator/ (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	sum (const Key &label, size_t cardinality) const

AlgebraicDecisionTree	sum (const typename Super::LabelC &labelC) const

Public Member Functions inherited from gtsam::DecisionTree< Key, double >
	DecisionTree (const double &y)

	DecisionTree (const Key &label, const double &y1, const double &y2)

	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 DecisionTree< M, X > &other, const std::map< M, Key > &map, boost::function< double(const X &)> op)

	DecisionTree (const NodePtr &root)

NodePtr	compose (Iterator begin, Iterator end, const Key &label) const

void	print (const std::string &s="DecisionTree") const

bool	equals (const DecisionTree &other, double tol=1e-9) const

virtual	~DecisionTree ()

bool	operator== (const DecisionTree &q) const

const double &	operator() (const Assignment< Key > &x) const

DecisionTree	apply (const Unary &op) const

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, bool showZero=true) const

void	dot (const std::string &name, bool showZero=true) const

Public Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const

bool	equals (const This &c, double tol=1e-9) const

size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

DecisionTreeFactor::const_iterator	beginFrontals () const

DecisionTreeFactor::const_iterator	endFrontals () const

DecisionTreeFactor::const_iterator	beginParents () const

DecisionTreeFactor::const_iterator	endParents () const

size_t &	nrFrontals ()

DecisionTreeFactor::iterator	beginFrontals ()

DecisionTreeFactor::iterator	endFrontals ()

DecisionTreeFactor::iterator	beginParents ()

DecisionTreeFactor::iterator	endParents ()

Standard Constructors
	DiscreteConditional ()

	DiscreteConditional (size_t nFrontals, const DecisionTreeFactor &f)

	DiscreteConditional (const Signature &signature)

	DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal)

	DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal, const Ordering &orderedKeys)

template<typename ITERATOR >
static shared_ptr	Combine (ITERATOR firstConditional, ITERATOR lastConditional)

Additional Inherited Members
Public Attributes inherited from gtsam::DecisionTree< Key, double >
NodePtr	root_

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

Protected Member Functions inherited from gtsam::Potentials
	Potentials (const ADT &potentials)

Protected Member Functions inherited from gtsam::DecisionTree< Key, double >
NodePtr	convert (const typename DecisionTree< M, X >::NodePtr &f, const std::map< M, Key > &map, boost::function< double(const X &)> op)

NodePtr	create (It begin, It end, ValueIt beginY, ValueIt endY) const

	DecisionTree ()

Protected Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
	Conditional ()

	Conditional (size_t nrFrontals)

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::Potentials
static GTSAM_EXPORT double	safe_div (const double &a, const double &b)

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Protected Attributes inherited from gtsam::Potentials
std::map< Key, size_t >	cardinalities_
	Cardinality for each key, used in combine. More...

Protected Attributes inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
size_t	nrFrontals_

Detailed Description

Discrete Conditional Density Derives from DecisionTreeFactor

Definition at line 35 of file DiscreteConditional.h.

Member Typedef Documentation

typedef Conditional<BaseFactor, This> gtsam::DiscreteConditional::BaseConditional

Typedef to our conditional base class.

Definition at line 43 of file DiscreteConditional.h.

typedef DecisionTreeFactor gtsam::DiscreteConditional::BaseFactor

Typedef to our factor base class.

Definition at line 42 of file DiscreteConditional.h.

typedef boost::shared_ptr<This> gtsam::DiscreteConditional::shared_ptr

shared_ptr to this class

Definition at line 41 of file DiscreteConditional.h.

typedef boost::shared_ptr<Values> gtsam::DiscreteConditional::sharedValues

Definition at line 48 of file DiscreteConditional.h.

typedef DiscreteConditional gtsam::DiscreteConditional::This

Typedef to this class.

Definition at line 40 of file DiscreteConditional.h.

typedef Assignment<Key> gtsam::DiscreteConditional::Values

A map from keys to values.. TODO: Again, do we need this???

Definition at line 47 of file DiscreteConditional.h.

Constructor & Destructor Documentation

gtsam::DiscreteConditional::DiscreteConditional ( )

inline

default constructor needed for serialization

Definition at line 54 of file DiscreteConditional.h.

gtsam::DiscreteConditional::DiscreteConditional	(	size_t	nFrontals,
		const DecisionTreeFactor &	f
	)

constructor from factor

Definition at line 41 of file DiscreteConditional.cpp.

gtsam::DiscreteConditional::DiscreteConditional ( const Signature & signature )

Construct from signature

Definition at line 65 of file DiscreteConditional.cpp.

gtsam::DiscreteConditional::DiscreteConditional	(	const DecisionTreeFactor &	joint,
		const DecisionTreeFactor &	marginal
	)

construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y)

Definition at line 47 of file DiscreteConditional.cpp.

gtsam::DiscreteConditional::DiscreteConditional	(	const DecisionTreeFactor &	joint,
		const DecisionTreeFactor &	marginal,
		const Ordering &	orderedKeys
	)

construct P(X|Y)=P(X,Y)/P(Y) from P(X,Y) and P(Y)

Definition at line 57 of file DiscreteConditional.cpp.

Member Function Documentation

Potentials::ADT gtsam::DiscreteConditional::choose ( const Assignment< Key > & parentsValues ) const

Restrict to given parent values, returns AlgebraicDecisionDiagram

Definition at line 100 of file DiscreteConditional.cpp.

template<typename ITERATOR >

DiscreteConditional::shared_ptr gtsam::DiscreteConditional::Combine	(	ITERATOR	firstConditional,
		ITERATOR	lastConditional
	)

static

Combine several conditional into a single one. The conditionals must be given in increasing order, meaning that the parents of any conditional may not include a conditional coming before it.

Parameters

firstConditional	Iterator to the first conditional to combine, must dereference to a shared_ptr<DiscreteConditional>.
lastConditional	Iterator to after the last conditional to combine, must dereference to a shared_ptr<DiscreteConditional>.

Definition at line 151 of file DiscreteConditional.h.

bool gtsam::DiscreteConditional::equals	(	const DiscreteFactor &	other,
		double	tol = `1e-9`
	)		const

overridevirtual

GTSAM-style equals.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 88 of file DiscreteConditional.cpp.

double gtsam::DiscreteConditional::operator() ( const Values & values ) const

inlineoverridevirtual

Evaluate, just look up in AlgebraicDecisonTree.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 105 of file DiscreteConditional.h.

void gtsam::DiscreteConditional::print	(	const std::string &	s = `"Discrete Conditional: "`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

GTSAM-style print.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 70 of file DiscreteConditional.cpp.

void gtsam::DiscreteConditional::printSignature	(	const std::string &	s = `"Discrete Conditional: "`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inline

print index signature only

Definition at line 98 of file DiscreteConditional.h.

size_t gtsam::DiscreteConditional::sample ( const Values & parentsValues ) const

sample

Parameters

parentsValues Known values of the parents

Returns: sample from conditional

Definition at line 186 of file DiscreteConditional.cpp.

void gtsam::DiscreteConditional::sampleInPlace ( Values & parentsValues ) const

sample in place, stores result in partial solution

Definition at line 153 of file DiscreteConditional.cpp.

size_t gtsam::DiscreteConditional::solve ( const Values & parentsValues ) const

solve a conditional

Parameters

parentsValues Known values of the parents

Returns: MPE value of the child (1 frontal variable).

Definition at line 161 of file DiscreteConditional.cpp.

void gtsam::DiscreteConditional::solveInPlace ( Values & parentsValues ) const

solve a conditional, in place

Definition at line 120 of file DiscreteConditional.cpp.

DecisionTreeFactor::shared_ptr gtsam::DiscreteConditional::toFactor ( ) const

inline

Convert to a factor

Definition at line 110 of file DiscreteConditional.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Standard Constructors

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation