BayesTreeCliqueBase-inst.h

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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
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/inference/BayesTreeCliqueBase.h>
#include <gtsam/inference/FactorGraph-inst.h>
#include <gtsam/base/timing.h>
 
namespace gtsam {
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  void BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::setEliminationResult(
    const typename FactorGraphType::EliminationResult& eliminationResult)
  {
    conditional_ = eliminationResult.first;
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  bool BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::equals(
    const DERIVED& other, double tol) const
  {
    return (!conditional_ && !other.conditional())
      || conditional_->equals(*other.conditional(), tol);
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  KeyVector
    BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::separator_setminus_B(const derived_ptr& B) const
  {
    KeySet p_F_S_parents(this->conditional()->beginParents(), this->conditional()->endParents());
    KeySet indicesB(B->conditional()->begin(), B->conditional()->end());
    KeyVector S_setminus_B;
    std::set_difference(p_F_S_parents.begin(), p_F_S_parents.end(),
      indicesB.begin(), indicesB.end(), back_inserter(S_setminus_B));
    return S_setminus_B;
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  KeyVector BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::shortcut_indices(
    const derived_ptr& B, const FactorGraphType& p_Cp_B) const
  {
    gttic(shortcut_indices);
    KeySet allKeys = p_Cp_B.keys();
    KeySet indicesB(B->conditional()->begin(), B->conditional()->end());
    KeyVector S_setminus_B = separator_setminus_B(B);
    KeyVector keep;
    // keep = S\B intersect allKeys (S_setminus_B is already sorted)
    std::set_intersection(S_setminus_B.begin(), S_setminus_B.end(), //
      allKeys.begin(), allKeys.end(), back_inserter(keep));
    // keep += B intersect allKeys
    std::set_intersection(indicesB.begin(), indicesB.end(), //
      allKeys.begin(), allKeys.end(), back_inserter(keep));
    return keep;
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  void BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::print(
    const std::string& s, const KeyFormatter& keyFormatter) const
  {
    conditional_->print(s, keyFormatter);
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  size_t BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::treeSize() const {
    size_t size = 1;
    for(const derived_ptr& child: children)
      size += child->treeSize();
    return size;
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  size_t BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::numCachedSeparatorMarginals() const
  {
    std::lock_guard<std::mutex> marginalLock(cachedSeparatorMarginalMutex_);
    if (!cachedSeparatorMarginal_)
      return 0;
 
    size_t subtree_count = 1;
    for(const derived_ptr& child: children)
      subtree_count += child->numCachedSeparatorMarginals();
 
    return subtree_count;
  }
 
  /* ************************************************************************* */
  // The shortcut density is a conditional P(S|B) of the separator of this
  // clique on the root or common ancestor B. We can compute it recursively from
  // the parent shortcut P(Sp|B) as \int P(Fp|Sp) P(Sp|B), where Fp are the
  // frontal nodes in the parent p, and Sp the separator of the parent.
  /* *************************************************************************
   */
  template <class DERIVED, class FACTORGRAPH>
  typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::BayesNetType
  BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::shortcut(
      const derived_ptr& B, Eliminate function) const {
    gttic(BayesTreeCliqueBase_shortcut);
    // We only calculate the shortcut when this clique is not B
    // and when the S\B is not empty
    KeyVector S_setminus_B = separator_setminus_B(B);
    if (!parent_.expired() /*(if we're not the root)*/ && !S_setminus_B.empty())
    {
      // Obtain P(Cp||B) = P(Fp|Sp) * P(Sp||B) as a factor graph
      derived_ptr parent(parent_.lock());
      FactorGraphType p_Cp_B(parent->shortcut(B, function)); // P(Sp||B)
      p_Cp_B.push_back(parent->conditional_); // P(Fp|Sp)
 
      // Determine the variables we want to keep, S union B
      KeyVector keep = shortcut_indices(B, p_Cp_B);
 
      // Marginalize out everything except S union B
      std::shared_ptr<FactorGraphType> p_S_B = p_Cp_B.marginal(keep, function);
      return *p_S_B->eliminatePartialSequential(S_setminus_B, function).first;
    }
    else
    {
      return BayesNetType();
    }
  }
 
  /* *********************************************************************** */
  // Separator marginal, uses separator marginal of parent recursively
  // Calculates P(S) = \int P(Cp) = \int P(Fp|Sp) P(Sp)
  // if P(Sp) is not cached, it will call separatorMarginal on the parent.
  // Here again, Fp and Sp are the frontal nodes and separator in the parent p.
  /* *********************************************************************** */
  template <class DERIVED, class FACTORGRAPH>
  typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::FactorGraphType
  BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::separatorMarginal(
      Eliminate function) const {
    std::lock_guard<std::mutex> marginalLock(cachedSeparatorMarginalMutex_);
    gttic(BayesTreeCliqueBase_separatorMarginal);
    // Check if the Separator marginal was already calculated
    if (!cachedSeparatorMarginal_) {
      // If this is the root, there is no separator
      if (parent_.expired() /*(if we're the root)*/) {
        // we are root, return empty
        FactorGraphType empty;
        cachedSeparatorMarginal_ = empty;
      } else {
        // Obtain P(S) = \int P(Cp) = \int P(Fp|Sp) P(Sp)
        // initialize P(Cp) with the parent separator marginal
        derived_ptr parent(parent_.lock());
        FactorGraphType p_Cp(
            parent->separatorMarginal(function));  // recursive P(Sp)
 
        // now add the parent conditional
        p_Cp.push_back(parent->conditional_);  // P(Fp|Sp)
 
        // The variables we want to keep are exactly the ones in S
        KeyVector indicesS(this->conditional()->beginParents(),
                           this->conditional()->endParents());
        auto separatorMarginal =
            p_Cp.marginalMultifrontalBayesNet(Ordering(indicesS), function);
        cachedSeparatorMarginal_ = *separatorMarginal;
      }
    }
 
    // return the shortcut P(S||B)
    return *cachedSeparatorMarginal_;  // return the cached version
  }
 
  /* *********************************************************************** */
  // marginal2, uses separator marginal of parent
  // P(C) = P(F|S) P(S)
  /* *********************************************************************** */
  template <class DERIVED, class FACTORGRAPH>
  typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::FactorGraphType
  BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::marginal2(
      Eliminate function) const {
    gttic(BayesTreeCliqueBase_marginal2);
    // initialize with separator marginal P(S)
    FactorGraphType p_C = this->separatorMarginal(function);
    // add the conditional P(F|S)
    p_C.push_back(std::shared_ptr<FactorType>(this->conditional_));
    return p_C;
  }
 
  /* ************************************************************************* */
  template<class DERIVED, class FACTORGRAPH>
  void BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::deleteCachedShortcuts() {
 
    // When a shortcut is requested, all of the shortcuts between it and the
    // root are also generated. So, if this clique's cached shortcut is set,
    // recursively call over all child cliques. Otherwise, it is unnecessary.
    
    std::lock_guard<std::mutex> marginalLock(cachedSeparatorMarginalMutex_);
    if (cachedSeparatorMarginal_) {
      for(derived_ptr& child: children) {
        child->deleteCachedShortcuts();
      }
 
      //Delete CachedShortcut for this clique
      cachedSeparatorMarginal_ = {};
    }
 
  }
 
}