#include <TableFactor.h>

Inheritance diagram for gtsam::TableFactor:

Classes
struct	Ring

Public Types
typedef std::vector< std::pair< DiscreteValues, double > >	AssignValList

typedef DiscreteFactor	Base
	Typedef to base class. More...

using	Binary = std::function< double(const double, const double)>

typedef std::shared_ptr< TableFactor >	shared_ptr

typedef Eigen::SparseVector< double >::InnerIterator	SparseIt

typedef TableFactor	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 Member Functions
Standard Constructors
	TableFactor ()

	TableFactor (const DiscreteKeys &keys, const TableFactor &potentials)

	TableFactor (const DiscreteKeys &keys, const Eigen::SparseVector< double > &table)

	TableFactor (const DiscreteKeys &keys, const std::vector< double > &table)

	TableFactor (const DiscreteKeys &keys, const std::string &table)

template<class SOURCE >
	TableFactor (const DiscreteKey &key, SOURCE table)
	Single-key specialization. More...

	TableFactor (const DiscreteKey &key, const std::vector< double > &row)
	Single-key specialization, with vector of doubles. More...

Advanced Interface
TableFactor	apply (const TableFactor &f, Binary op) const

DiscreteKeys	contractDkeys (const TableFactor &f) const
	Return keys in contract mode. More...

DiscreteKeys	freeDkeys (const TableFactor &f) const
	Return keys in free mode. More...

DiscreteKeys	unionDkeys (const TableFactor &f) const
	Return union of DiscreteKeys in two factors. More...

uint64_t	unionRep (const DiscreteKeys &keys, const DiscreteValues &assign, const uint64_t idx) const
	Create unique representation of union modes. More...

std::unordered_map< uint64_t, AssignValList >	createMap (const DiscreteKeys &contract, const DiscreteKeys &free) const

uint64_t	uniqueRep (const DiscreteKeys &keys, const uint64_t idx) const
	Create unique representation. More...

uint64_t	uniqueRep (const DiscreteValues &assignments) const
	Create unique representation with DiscreteValues. More...

DiscreteValues	findAssignments (const uint64_t idx) const
	Find DiscreteValues for corresponding index. More...

double	findValue (const DiscreteValues &values) const
	Find value for corresponding DiscreteValues. More...

shared_ptr	combine (size_t nrFrontals, Binary op) const

shared_ptr	combine (const Ordering &keys, Binary op) const

std::vector< std::pair< DiscreteValues, double > >	enumerate () const
	Enumerate all values into a map from values to double. More...

DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor. More...

TableFactor	prune (size_t maxNrAssignments) const
	Prune the decision tree of discrete variables. More...

Wrapper support
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)

double	error (const DiscreteValues &values) const
	Error is just -log(value) 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 ()

Protected Attributes
std::map< Key, size_t >	cardinalities_
	Map of Keys and their cardinalities. More...

Eigen::SparseVector< double >	sparse_table_
	SparseVector of nonzero probabilities. More...

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

Private Member Functions
DiscreteKey	discreteKey (size_t i) const
	Return ith key in keys_ as a DiscreteKey. More...

size_t	keyValueForIndex (Key target_key, uint64_t index) const
	Uses lazy cartesian product to find nth entry in the cartesian product of arrays in O(1) Example) v0 \| v1 \| val 0 \| 0 \| 10 0 \| 1 \| 21 1 \| 0 \| 32 1 \| 1 \| 43 keyValueForIndex(v1, 2) = 0. More...

Static Private Member Functions
static Eigen::SparseVector< double >	Convert (const std::vector< double > &table)

static Eigen::SparseVector< double >	Convert (const std::string &table)
	Convert probability table given as string to SparseVector. More...

Private Attributes
std::map< Key, size_t >	denominators_
	Map of Keys and their denominators used in keyValueForIndex. More...

DiscreteKeys	sorted_dkeys_
	Sorted DiscreteKeys to use internally. More...

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

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

double	evaluate (const DiscreteValues &values) const

double	operator() (const DiscreteValues &values) const override
	Evaluate probability distribution, sugar. More...

double	error (const DiscreteValues &values) const
	Calculate error for DiscreteValues `x`, is -log(probability). More...

TableFactor	operator* (const TableFactor &f) const
	multiply two TableFactors More...

DecisionTreeFactor	operator* (const DecisionTreeFactor &f) const override
	multiple with DecisionTreeFactor More...

size_t	cardinality (Key j) const

TableFactor	operator/ (const TableFactor &f) const
	divide by factor f (safely) More...

DecisionTreeFactor	toDecisionTreeFactor () const override
	Convert into a decisiontree. More...

TableFactor	choose (const DiscreteValues assignments, DiscreteKeys parent_keys) const
	Create a TableFactor that is a subset of this TableFactor. 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
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)

Detailed Description

A discrete probabilistic factor optimized for sparsity. Uses sparse_table_ to store only the nonzero probabilities. Computes the assigned value for the key using the ordering which the nonzero probabilties are stored in. (lazy cartesian product)

Definition at line 45 of file TableFactor.h.

Member Typedef Documentation

◆ AssignValList

typedef std::vector<std::pair<DiscreteValues, double> > gtsam::TableFactor::AssignValList

Definition at line 96 of file TableFactor.h.

◆ Base

typedef DiscreteFactor gtsam::TableFactor::Base

Typedef to base class.

Definition at line 93 of file TableFactor.h.

◆ Binary

using gtsam::TableFactor::Binary = std::function<double(const double, const double)>

Definition at line 97 of file TableFactor.h.

◆ shared_ptr

typedef std::shared_ptr<TableFactor> gtsam::TableFactor::shared_ptr

Definition at line 94 of file TableFactor.h.

◆ SparseIt

typedef Eigen::SparseVector<double>::InnerIterator gtsam::TableFactor::SparseIt

Definition at line 95 of file TableFactor.h.

◆ This

typedef TableFactor gtsam::TableFactor::This

Definition at line 92 of file TableFactor.h.

Constructor & Destructor Documentation

◆ TableFactor() [1/7]

gtsam::TableFactor::TableFactor ( )

Default constructor for I/O

Definition at line 31 of file TableFactor.cpp.

◆ TableFactor() [2/7]

gtsam::TableFactor::TableFactor	(	const DiscreteKeys &	keys,
		const TableFactor &	potentials
	)

Constructor from DiscreteKeys and TableFactor

Definition at line 34 of file TableFactor.cpp.

◆ TableFactor() [3/7]

gtsam::TableFactor::TableFactor	(	const DiscreteKeys &	keys,
		const Eigen::SparseVector< double > &	table
	)

Constructor from sparse_table

Definition at line 45 of file TableFactor.cpp.

◆ TableFactor() [4/7]

gtsam::TableFactor::TableFactor	(	const DiscreteKeys &	keys,
		const std::vector< double > &	table
	)

inline

Constructor from doubles

Definition at line 129 of file TableFactor.h.

◆ TableFactor() [5/7]

gtsam::TableFactor::TableFactor	(	const DiscreteKeys &	keys,
		const std::string &	table
	)

inline

Constructor from string

Definition at line 133 of file TableFactor.h.

◆ TableFactor() [6/7]

template<class SOURCE >

gtsam::TableFactor::TableFactor	(	const DiscreteKey &	key,
		SOURCE	table
	)

inline

Single-key specialization.

Definition at line 138 of file TableFactor.h.

◆ TableFactor() [7/7]

gtsam::TableFactor::TableFactor	(	const DiscreteKey &	key,
		const std::vector< double > &	row
	)

inline

Single-key specialization, with vector of doubles.

Definition at line 142 of file TableFactor.h.

Member Function Documentation

◆ apply()

TableFactor gtsam::TableFactor::apply	(	const TableFactor &	f,
		Binary	op
	)		const

Apply binary operator (*this) "op" f

Parameters

f	the second argument for op
op	a binary operator that operates on TableFactor

Definition at line 218 of file TableFactor.cpp.

◆ cardinality()

size_t gtsam::TableFactor::cardinality ( Key j ) const

inline

Definition at line 183 of file TableFactor.h.

◆ choose()

TableFactor gtsam::TableFactor::choose	(	const DiscreteValues	assignments,
		DiscreteKeys	parent_keys
	)		const

Create a TableFactor that is a subset of this TableFactor.

Definition at line 148 of file TableFactor.cpp.

◆ combine() [1/2]

TableFactor::shared_ptr gtsam::TableFactor::combine	(	size_t	nrFrontals,
		Binary	op
	)		const

Combine frontal variables using binary operator "op"

Parameters

nrFrontals	nr. of frontal to combine variables in this factor
op	a binary operator that operates on TableFactor

Returns: shared pointer to newly created TableFactor

Definition at line 352 of file TableFactor.cpp.

◆ combine() [2/2]

TableFactor::shared_ptr gtsam::TableFactor::combine	(	const Ordering &	keys,
		Binary	op
	)		const

Combine frontal variables in an Ordering using binary operator "op"

Parameters

nrFrontals	nr. of frontal to combine variables in this factor
op	a binary operator that operates on TableFactor

Returns: shared pointer to newly created TableFactor

Definition at line 383 of file TableFactor.cpp.

◆ contractDkeys()

DiscreteKeys gtsam::TableFactor::contractDkeys ( const TableFactor & f ) const

Return keys in contract mode.

Definition at line 252 of file TableFactor.cpp.

◆ Convert() [1/2]

Eigen::SparseVector< double > gtsam::TableFactor::Convert ( const std::vector< double > & table )

staticprivate

Convert probability table given as doubles to SparseVector. Example) {0, 1, 1, 0, 0, 1, 0} -> values: {1, 1, 1}, indices: {1, 2, 5}

Definition at line 60 of file TableFactor.cpp.

◆ Convert() [2/2]

Eigen::SparseVector< double > gtsam::TableFactor::Convert ( const std::string & table )

staticprivate

Convert probability table given as string to SparseVector.

Definition at line 76 of file TableFactor.cpp.

◆ createMap()

unordered_map< uint64_t, TableFactor::AssignValList > gtsam::TableFactor::createMap	(	const DiscreteKeys &	contract,
		const DiscreteKeys &	free
	)		const

Create a hash map of input factor with assignment of contract modes as keys and vector of hashed assignment of free modes and value as values.

Definition at line 297 of file TableFactor.cpp.

◆ discreteKey()

DiscreteKey gtsam::TableFactor::discreteKey ( size_t i ) const

inlineprivate

Return ith key in keys_ as a DiscreteKey.

Parameters

i	ith key in keys_

Returns: DiscreteKey

Definition at line 79 of file TableFactor.h.

◆ discreteKeys()

DiscreteKeys gtsam::TableFactor::discreteKeys ( ) const

Return all the discrete keys associated with this factor.

Definition at line 439 of file TableFactor.cpp.

◆ enumerate()

std::vector< std::pair< DiscreteValues, double > > gtsam::TableFactor::enumerate ( ) const

Enumerate all values into a map from values to double.

Definition at line 424 of file TableFactor.cpp.

◆ equals()

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

overridevirtual

equality

Implements gtsam::DiscreteFactor.

Definition at line 86 of file TableFactor.cpp.

◆ error() [1/2]

double gtsam::TableFactor::error ( const DiscreteValues & values ) const

Calculate error for DiscreteValues x, is -log(probability).

Definition at line 122 of file TableFactor.cpp.

◆ error() [2/2]

double gtsam::TableFactor::error ( const HybridValues & values ) const

overridevirtual

Calculate error for HybridValues x, is -log(probability) Simply dispatches to DiscreteValues version.

Reimplemented from gtsam::DiscreteFactor.

Definition at line 127 of file TableFactor.cpp.

◆ evaluate()

double gtsam::TableFactor::evaluate ( const DiscreteValues & values ) const

inline

Calculate probability for given values x, is just look up in TableFactor.

Definition at line 163 of file TableFactor.h.

◆ findAssignments()

DiscreteValues gtsam::TableFactor::findAssignments ( const uint64_t idx ) const

Find DiscreteValues for corresponding index.

Definition at line 343 of file TableFactor.cpp.

◆ findValue()

double gtsam::TableFactor::findValue ( const DiscreteValues & values ) const

Find value for corresponding DiscreteValues.

Definition at line 109 of file TableFactor.cpp.

◆ freeDkeys()

DiscreteKeys gtsam::TableFactor::freeDkeys ( const TableFactor & f ) const

Return keys in free mode.

Definition at line 262 of file TableFactor.cpp.

◆ html()

string gtsam::TableFactor::html	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

overridevirtual

Render as html table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a html string.

Implements gtsam::DiscreteFactor.

Definition at line 482 of file TableFactor.cpp.

◆ keyValueForIndex()

size_t gtsam::TableFactor::keyValueForIndex	(	Key	target_key,
		uint64_t	index
	)		const

private

Uses lazy cartesian product to find nth entry in the cartesian product of arrays in O(1) Example) v0 | v1 | val 0 | 0 | 10 0 | 1 | 21 1 | 0 | 32 1 | 1 | 43 keyValueForIndex(v1, 2) = 0.

Parameters

target_key	nth entry's key to find out its assigned value
index	nth entry in the sparse vector

Returns: TableFactor

Definition at line 418 of file TableFactor.cpp.

◆ markdown()

string gtsam::TableFactor::markdown	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

overridevirtual

Render as markdown table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a markdown string.

Implements gtsam::DiscreteFactor.

Definition at line 452 of file TableFactor.cpp.

◆ max() [1/2]

shared_ptr gtsam::TableFactor::max ( size_t nrFrontals ) const

inline

Create new factor by maximizing over all values with the same separator.

Definition at line 208 of file TableFactor.h.

◆ max() [2/2]

shared_ptr gtsam::TableFactor::max ( const Ordering & keys ) const

inline

Create new factor by maximizing over all values with the same separator.

Definition at line 213 of file TableFactor.h.

◆ operator()()

double gtsam::TableFactor::operator() ( const DiscreteValues & values ) const

overridevirtual

Evaluate probability distribution, sugar.

Implements gtsam::DiscreteFactor.

Definition at line 96 of file TableFactor.cpp.

◆ operator*() [1/2]

TableFactor gtsam::TableFactor::operator* ( const TableFactor & f ) const

inline

multiply two TableFactors

Definition at line 174 of file TableFactor.h.

◆ operator*() [2/2]

DecisionTreeFactor gtsam::TableFactor::operator* ( const DecisionTreeFactor & f ) const

overridevirtual

multiple with DecisionTreeFactor

Implements gtsam::DiscreteFactor.

Definition at line 132 of file TableFactor.cpp.

◆ operator/()

TableFactor gtsam::TableFactor::operator/ ( const TableFactor & f ) const

inline

divide by factor f (safely)

Definition at line 186 of file TableFactor.h.

◆ print()

void gtsam::TableFactor::print	(	const std::string &	s = `"TableFactor:\n"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::DiscreteFactor.

Definition at line 201 of file TableFactor.cpp.

◆ prune()

TableFactor gtsam::TableFactor::prune ( size_t maxNrAssignments ) const

Prune the decision tree of discrete variables.

Pruning will set the values 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).

Parameters

maxNrAssignments The maximum number of assignments to keep.

Returns: TableFactor

Definition at line 515 of file TableFactor.cpp.

◆ safe_div()

double gtsam::TableFactor::safe_div	(	const double &	a,
		const double &	b
	)

static

Definition at line 193 of file TableFactor.cpp.

◆ sum() [1/2]

shared_ptr gtsam::TableFactor::sum ( size_t nrFrontals ) const

inline

Create new factor by summing all values with the same separator values.

Definition at line 198 of file TableFactor.h.

◆ sum() [2/2]

shared_ptr gtsam::TableFactor::sum ( const Ordering & keys ) const

inline

Create new factor by summing all values with the same separator values.

Definition at line 203 of file TableFactor.h.

◆ toDecisionTreeFactor()

DecisionTreeFactor gtsam::TableFactor::toDecisionTreeFactor ( ) const

overridevirtual

Convert into a decisiontree.

Implements gtsam::DiscreteFactor.

Definition at line 137 of file TableFactor.cpp.

◆ unionDkeys()

DiscreteKeys gtsam::TableFactor::unionDkeys ( const TableFactor & f ) const

Return union of DiscreteKeys in two factors.

Definition at line 272 of file TableFactor.cpp.

◆ unionRep()

uint64_t gtsam::TableFactor::unionRep	(	const DiscreteKeys &	keys,
		const DiscreteValues &	assign,
		const uint64_t	idx
	)		const

Create unique representation of union modes.

Definition at line 281 of file TableFactor.cpp.

◆ uniqueRep() [1/2]

uint64_t gtsam::TableFactor::uniqueRep	(	const DiscreteKeys &	keys,
		const uint64_t	idx
	)		const

Create unique representation.

Definition at line 320 of file TableFactor.cpp.

◆ uniqueRep() [2/2]

uint64_t gtsam::TableFactor::uniqueRep ( const DiscreteValues & assignments ) const

Create unique representation with DiscreteValues.

Definition at line 332 of file TableFactor.cpp.

Member Data Documentation

◆ cardinalities_

std::map<Key, size_t> gtsam::TableFactor::cardinalities_

protected

Map of Keys and their cardinalities.

Definition at line 48 of file TableFactor.h.

◆ denominators_

std::map<Key, size_t> gtsam::TableFactor::denominators_

private

Map of Keys and their denominators used in keyValueForIndex.

Definition at line 54 of file TableFactor.h.

◆ sorted_dkeys_

DiscreteKeys gtsam::TableFactor::sorted_dkeys_

private

Sorted DiscreteKeys to use internally.

Definition at line 56 of file TableFactor.h.

◆ sparse_table_

Eigen::SparseVector<double> gtsam::TableFactor::sparse_table_

protected

SparseVector of nonzero probabilities.

Definition at line 50 of file TableFactor.h.

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

Classes

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Testable

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AssignValList

◆ Base

◆ Binary

◆ shared_ptr

◆ SparseIt

◆ This

Constructor & Destructor Documentation

◆ TableFactor() [1/7]

◆ TableFactor() [2/7]

◆ TableFactor() [3/7]

◆ TableFactor() [4/7]

◆ TableFactor() [5/7]

◆ TableFactor() [6/7]

◆ TableFactor() [7/7]

Member Function Documentation

◆ apply()

◆ cardinality()

◆ choose()

◆ combine() [1/2]

◆ combine() [2/2]

◆ contractDkeys()

◆ Convert() [1/2]

◆ Convert() [2/2]

◆ createMap()

◆ discreteKey()

◆ discreteKeys()

◆ enumerate()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ evaluate()

◆ findAssignments()

◆ findValue()

◆ freeDkeys()

◆ html()

◆ keyValueForIndex()

◆ markdown()

◆ max() [1/2]

◆ max() [2/2]

◆ operator()()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/()

◆ print()

◆ prune()

◆ safe_div()

◆ sum() [1/2]

◆ sum() [2/2]

◆ toDecisionTreeFactor()

◆ unionDkeys()

◆ unionRep()

◆ uniqueRep() [1/2]

◆ uniqueRep() [2/2]

Member Data Documentation

◆ cardinalities_

◆ denominators_

◆ sorted_dkeys_

◆ sparse_table_