DiscreteBayesTree.cpp

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/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

#include <gtsam/base/treeTraversal-inst.h>
#include <gtsam/inference/BayesTree-inst.h>
#include <gtsam/inference/BayesTreeCliqueBase-inst.h>
#include <gtsam/discrete/DiscreteBayesTree.h>
#include <gtsam/discrete/DiscreteBayesNet.h>

namespace gtsam {

  // Instantiate base class
  template class BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph>;
  template class BayesTree<DiscreteBayesTreeClique>;

  /* ************************************************************************* */
  double DiscreteBayesTreeClique::evaluate(
      const DiscreteValues& values) const {
    // evaluate all conditionals and multiply
    double result = (*conditional_)(values);
    for (const auto& child : children) {
      result *= child->evaluate(values);
    }
    return result;
  }

  /* ************************************************************************* */
  bool DiscreteBayesTree::equals(const This& other, double tol) const {
    return Base::equals(other, tol);
  }

  /* ************************************************************************* */
  double DiscreteBayesTree::evaluate(
      const DiscreteValues& values) const {
    double result = 1.0;
    for (const auto& root : roots_) {
      result *= root->evaluate(values);
    }
    return result;
  }

  /* **************************************************************************/
  std::string DiscreteBayesTree::markdown(
      const KeyFormatter& keyFormatter,
      const DiscreteFactor::Names& names) const {
    using std::endl;
    std::stringstream ss;
    ss << "`DiscreteBayesTree` of size " << nodes_.size() << endl << endl;
    auto visitor = [&](const DiscreteBayesTreeClique::shared_ptr& clique,
                       size_t& indent) {
      ss << "\n" << clique->conditional()->markdown(keyFormatter, names);
      return indent + 1;
    };
    size_t indent;
    treeTraversal::DepthFirstForest(*this, indent, visitor);
    return ss.str();
  }

  /* **************************************************************************/
  std::string DiscreteBayesTree::html(
      const KeyFormatter& keyFormatter,
      const DiscreteFactor::Names& names) const {
    using std::endl;
    std::stringstream ss;
    ss << "<div><p><tt>DiscreteBayesTree</tt> of size " << nodes_.size()
       << "</p>";
    auto visitor = [&](const DiscreteBayesTreeClique::shared_ptr& clique,
                       size_t& indent) {
      ss << clique->conditional()->html(keyFormatter, names);
      return indent + 1;
    };
    size_t indent;
    treeTraversal::DepthFirstForest(*this, indent, visitor);
    return ss.str();
  }

  /* **************************************************************************/
  }  // namespace gtsam