#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 std::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

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

using	Values = DiscreteValues
	backwards compatibility More...

Public Types inherited from gtsam::DecisionTreeFactor
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 Types inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
typedef std::pair< typename DecisionTreeFactor ::const_iterator, typename DecisionTreeFactor ::const_iterator >	ConstFactorRange

typedef ConstFactorRangeIterator	Frontals

typedef ConstFactorRangeIterator	Parents

Public Member Functions
Standard Constructors
	DiscreteConditional ()
	Default constructor needed for serialization. More...

	DiscreteConditional (size_t nFrontals, const DecisionTreeFactor &f)
	Construct from factor, taking the first `nFrontals` keys as frontals. More...

	DiscreteConditional (size_t nFrontals, const DiscreteKeys &keys, const ADT &potentials)

	DiscreteConditional (const Signature &signature)

	DiscreteConditional (const DiscreteKey &key, const DiscreteKeys &parents, const Signature::Table &table)

	DiscreteConditional (const DiscreteKey &key, const DiscreteKeys &parents, const std::vector< double > &table)

	DiscreteConditional (const DiscreteKey &key, const DiscreteKeys &parents, const std::string &spec)

	DiscreteConditional (const DiscreteKey &key, const std::string &spec)
	No-parent specialization; can also use DiscreteDistribution. More...

	DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal)
	construct P(X\|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y). More...

	DiscreteConditional (const DecisionTreeFactor &joint, const DecisionTreeFactor &marginal, const Ordering &orderedKeys)
	construct P(X\|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y). Makes sure the keys are ordered as given. Does not check orderedKeys. More...

DiscreteConditional	operator* (const DiscreteConditional &other) const
	Combine two conditionals, yielding a new conditional with the union of the frontal keys, ordered by gtsam::Key. More...

DiscreteConditional	marginal (Key key) const

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
double	logProbability (const DiscreteValues &x) const
	Log-probability is just -error(x). More...

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

double	evaluate (const DiscreteValues &values) const
	Evaluate, just look up in AlgebraicDecisionTree. More...

shared_ptr	choose (const DiscreteValues &given) const
	< DiscreteValues version More...

DecisionTreeFactor::shared_ptr	likelihood (const DiscreteValues &frontalValues) const

DecisionTreeFactor::shared_ptr	likelihood (size_t frontal) const

size_t	sample (const DiscreteValues &parentsValues) const

size_t	sample (size_t parent_value) const
	Single parent version. More...

size_t	sample () const
	Zero parent version. More...

size_t	argmax (const DiscreteValues &parentsValues=DiscreteValues()) const
	Return assignment for single frontal variable that maximizes value. More...

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

double	error (const HybridValues &values) const override

Advanced Interface
void	sampleInPlace (DiscreteValues *parentsValues) const
	sample in place, stores result in partial solution More...

std::vector< DiscreteValues >	frontalAssignments () const
	Return all assignments for frontal variables. More...

std::vector< DiscreteValues >	allAssignments () const
	Return all assignments for frontal and parent 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	evaluate (const HybridValues &x) const override

double	logProbability (const HybridValues &x) const override
	< HybridValues version More...

double	negLogConstant () const override

Public Member Functions inherited from gtsam::DecisionTreeFactor
	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)

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...

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

double	error (const HybridValues &values) const override

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...

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)

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

virtual	~Conditional ()

size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar. More...

virtual double	negLogConstant () const
	All conditional types need to implement this as the negative log of the normalization constant to make it such that error>=0. More...

size_t &	nrFrontals ()

DecisionTreeFactor ::const_iterator	beginFrontals () const

DecisionTreeFactor ::iterator	beginFrontals ()

DecisionTreeFactor ::const_iterator	endFrontals () const

DecisionTreeFactor ::iterator	endFrontals ()

DecisionTreeFactor ::const_iterator	beginParents () const

DecisionTreeFactor ::iterator	beginParents ()

DecisionTreeFactor ::const_iterator	endParents () const

DecisionTreeFactor ::iterator	endParents ()

Protected Member Functions
DiscreteConditional::ADT	choose (const DiscreteValues &given, bool forceComplete) const
	Internal version of choose. More...

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

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

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

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

	Conditional (size_t nrFrontals)

Additional Inherited Members
Static Public Member Functions inherited from gtsam::DecisionTreeFactor
static double	safe_div (const double &a, const double &b)

Static Public Member Functions inherited from gtsam::DecisionTree< Key, double >
static NodePtr	compose (Iterator begin, Iterator end, const Key &label)

Static Public Member Functions inherited from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >
static bool	CheckInvariants (const DiscreteConditional &conditional, const VALUES &x)

Public Attributes inherited from gtsam::DecisionTree< Key, double >
NodePtr	root_
	A DecisionTree just contains the root. TODO(dellaert): make protected. More...

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...

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

Detailed Description

Discrete Conditional Density Derives from DecisionTreeFactor

represent a discrete conditional distribution over discrete variables.

Hybrid conditional densities, such as

Definition at line 37 of file DiscreteConditional.h.

Member Typedef Documentation

◆ BaseConditional

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

Typedef to our conditional base class.

Definition at line 46 of file DiscreteConditional.h.

◆ BaseFactor

typedef DecisionTreeFactor gtsam::DiscreteConditional::BaseFactor

Typedef to our factor base class.

Definition at line 44 of file DiscreteConditional.h.

◆ shared_ptr

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

shared_ptr to this class

Definition at line 43 of file DiscreteConditional.h.

◆ This

typedef DiscreteConditional gtsam::DiscreteConditional::This

Typedef to this class.

Definition at line 42 of file DiscreteConditional.h.

◆ Values

using gtsam::DiscreteConditional::Values = DiscreteValues

backwards compatibility

Definition at line 48 of file DiscreteConditional.h.

Constructor & Destructor Documentation

◆ DiscreteConditional() [1/10]

gtsam::DiscreteConditional::DiscreteConditional ( )

inline

Default constructor needed for serialization.

Definition at line 54 of file DiscreteConditional.h.

◆ DiscreteConditional() [2/10]

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

Construct from factor, taking the first nFrontals keys as frontals.

Definition at line 44 of file DiscreteConditional.cpp.

◆ DiscreteConditional() [3/10]

gtsam::DiscreteConditional::DiscreteConditional	(	size_t	nFrontals,
		const DiscreteKeys &	keys,
		const ADT &	potentials
	)

Construct from DiscreteKeys and AlgebraicDecisionTree, taking the first nFrontals keys as frontals, in the order given.

Definition at line 49 of file DiscreteConditional.cpp.

◆ DiscreteConditional() [4/10]

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

explicit

Construct from signature

Definition at line 70 of file DiscreteConditional.cpp.

◆ DiscreteConditional() [5/10]

gtsam::DiscreteConditional::DiscreteConditional	(	const DiscreteKey &	key,
		const DiscreteKeys &	parents,
		const Signature::Table &	table
	)

inline

Construct from key, parents, and a Signature::Table specifying the conditional probability table (CPT) in 00 01 10 11 order. For three-valued, it would be 00 01 02 10 11 12 20 21 22, etc....

Example: DiscreteConditional P(D, {B,E}, table);

Definition at line 76 of file DiscreteConditional.h.

◆ DiscreteConditional() [6/10]

gtsam::DiscreteConditional::DiscreteConditional	(	const DiscreteKey &	key,
		const DiscreteKeys &	parents,
		const std::vector< double > &	table
	)

inline

Construct from key, parents, and a vector<double> specifying the conditional probability table (CPT) in 00 01 10 11 order. For three-valued, it would be 00 01 02 10 11 12 20 21 22, etc....

Example: DiscreteConditional P(D, {B,E}, table);

Definition at line 87 of file DiscreteConditional.h.

◆ DiscreteConditional() [7/10]

gtsam::DiscreteConditional::DiscreteConditional	(	const DiscreteKey &	key,
		const DiscreteKeys &	parents,
		const std::string &	spec
	)

inline

Construct from key, parents, and a string specifying the conditional probability table (CPT) in 00 01 10 11 order. For three-valued, it would be 00 01 02 10 11 12 20 21 22, etc....

The string is parsed into a Signature::Table.

Example: DiscreteConditional P(D, {B,E}, "9/1 2/8 3/7 1/9");

Definition at line 101 of file DiscreteConditional.h.

◆ DiscreteConditional() [8/10]

gtsam::DiscreteConditional::DiscreteConditional	(	const DiscreteKey &	key,
		const std::string &	spec
	)

inline

No-parent specialization; can also use DiscreteDistribution.

Definition at line 106 of file DiscreteConditional.h.

◆ DiscreteConditional() [9/10]

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

construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y).

Definition at line 55 of file DiscreteConditional.cpp.

◆ DiscreteConditional() [10/10]

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

construct P(X|Y) = f(X,Y)/f(Y) from f(X,Y) and f(Y) Assumes but does not check that f(Y)=sum_X f(X,Y). Makes sure the keys are ordered as given. Does not check orderedKeys.

Definition at line 61 of file DiscreteConditional.cpp.

Member Function Documentation

◆ allAssignments()

vector< DiscreteValues > gtsam::DiscreteConditional::allAssignments ( ) const

Return all assignments for frontal and parent variables.

Definition at line 335 of file DiscreteConditional.cpp.

◆ argmax()

size_t gtsam::DiscreteConditional::argmax ( const DiscreteValues & parentsValues = DiscreteValues() ) const

Return assignment for single frontal variable that maximizes value.

Parameters

parentsValues Known assignments for the parents.

Returns: maximizing assignment for the frontal variable.

Definition at line 238 of file DiscreteConditional.cpp.

◆ choose() [1/2]

DiscreteConditional::shared_ptr gtsam::DiscreteConditional::choose ( const DiscreteValues & given ) const

< DiscreteValues version

restrict to given parent values.

Note: does not need be complete set. Examples:

Returns: a shared_ptr to a new DiscreteConditional

Definition at line 182 of file DiscreteConditional.cpp.

◆ choose() [2/2]

DiscreteConditional::ADT gtsam::DiscreteConditional::choose	(	const DiscreteValues &	given,
		bool	forceComplete
	)		const

protected

Internal version of choose.

Definition at line 160 of file DiscreteConditional.cpp.

◆ equals()

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

overridevirtual

GTSAM-style equals.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 149 of file DiscreteConditional.cpp.

◆ error() [1/2]

double gtsam::DecisionTreeFactor::error

override

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

Definition at line 56 of file DecisionTreeFactor.cpp.

◆ error() [2/2]

double gtsam::DecisionTreeFactor::error

override

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

Definition at line 61 of file DecisionTreeFactor.cpp.

◆ evaluate() [1/2]

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

inline

Evaluate, just look up in AlgebraicDecisionTree.

Definition at line 172 of file DiscreteConditional.h.

◆ evaluate() [2/2]

double gtsam::DiscreteConditional::evaluate ( const HybridValues & x ) const

overridevirtual

Calculate probability for HybridValues x. Dispatches to DiscreteValues version.

Reimplemented from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >.

Definition at line 475 of file DiscreteConditional.cpp.

◆ frontalAssignments()

vector< DiscreteValues > gtsam::DiscreteConditional::frontalAssignments ( ) const

Return all assignments for frontal variables.

Definition at line 327 of file DiscreteConditional.cpp.

◆ html()

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

overridevirtual

Render as html table.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 420 of file DiscreteConditional.cpp.

◆ likelihood() [1/2]

DecisionTreeFactor::shared_ptr gtsam::DiscreteConditional::likelihood ( const DiscreteValues & frontalValues ) const

Convert to a likelihood factor by providing value before bar.

Definition at line 201 of file DiscreteConditional.cpp.

◆ likelihood() [2/2]

DecisionTreeFactor::shared_ptr gtsam::DiscreteConditional::likelihood ( size_t frontal ) const

Single variable version of likelihood.

Definition at line 226 of file DiscreteConditional.cpp.

◆ logProbability() [1/2]

double gtsam::DiscreteConditional::logProbability ( const DiscreteValues & x ) const

inline

Log-probability is just -error(x).

Definition at line 162 of file DiscreteConditional.h.

◆ logProbability() [2/2]

double gtsam::DiscreteConditional::logProbability ( const HybridValues & x ) const

inlineoverridevirtual

< HybridValues version

Calculate log-probability log(evaluate(x)) for HybridValues x. This is actually just -error(x).

Reimplemented from gtsam::Conditional< DecisionTreeFactor, DiscreteConditional >.

Definition at line 262 of file DiscreteConditional.h.

◆ marginal()

DiscreteConditional gtsam::DiscreteConditional::marginal ( Key key ) const

Calculate marginal on given key, no parent case.

Definition at line 112 of file DiscreteConditional.cpp.

◆ markdown()

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

overridevirtual

Render as markdown table.

Reimplemented from gtsam::DecisionTreeFactor.

Definition at line 368 of file DiscreteConditional.cpp.

◆ negLogConstant()

double gtsam::DiscreteConditional::negLogConstant ( ) const

override

negLogConstant is just zero, such that -logProbability(x) = -log(evaluate(x)) = error(x) and hence error(x) > 0 for all x. Thus -log(K) for the normalization constant k is 0.

Definition at line 480 of file DiscreteConditional.cpp.

◆ operator*()

DiscreteConditional gtsam::DiscreteConditional::operator* ( const DiscreteConditional & other ) const

Combine two conditionals, yielding a new conditional with the union of the frontal keys, ordered by gtsam::Key.

The two conditionals must make a valid Bayes net fragment, i.e., the frontal variables cannot overlap, and must be acyclic: Example of correct use: P(A,B) = P(A|B) * P(B) P(A,B|C) = P(A|B) * P(B|C) P(A,B,C) = P(A,B|C) * P(C) Example of incorrect use: P(A|B) * P(A|C) = ? P(A|B) * P(B|A) = ? We check for overlapping frontals, but do not check for cyclic.

Definition at line 75 of file DiscreteConditional.cpp.

◆ print()

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

overridevirtual

GTSAM-style print.

Reimplemented from gtsam::DecisionTreeFactor.

Reimplemented in gtsam::DiscreteDistribution, and gtsam::DiscreteLookupTable.

Definition at line 131 of file DiscreteConditional.cpp.

◆ printSignature()

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

inline

print index signature only

Definition at line 165 of file DiscreteConditional.h.

◆ sample() [1/3]

size_t gtsam::DiscreteConditional::sample ( ) const

Zero parent version.

Definition at line 318 of file DiscreteConditional.cpp.

◆ sample() [2/3]

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

sample

Parameters

parentsValues Known values of the parents

Returns: sample from conditional

Definition at line 279 of file DiscreteConditional.cpp.

◆ sample() [3/3]

size_t gtsam::DiscreteConditional::sample ( size_t parent_value ) const

Single parent version.

Definition at line 307 of file DiscreteConditional.cpp.

◆ sampleInPlace()

void gtsam::DiscreteConditional::sampleInPlace ( DiscreteValues * parentsValues ) const

sample in place, stores result in partial solution

Definition at line 261 of file DiscreteConditional.cpp.

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseConditional

◆ BaseFactor

◆ shared_ptr

◆ This

◆ Values

Constructor & Destructor Documentation

◆ DiscreteConditional() [1/10]

◆ DiscreteConditional() [2/10]

◆ DiscreteConditional() [3/10]

◆ DiscreteConditional() [4/10]

◆ DiscreteConditional() [5/10]

◆ DiscreteConditional() [6/10]

◆ DiscreteConditional() [7/10]

◆ DiscreteConditional() [8/10]

◆ DiscreteConditional() [9/10]

◆ DiscreteConditional() [10/10]

Member Function Documentation

◆ allAssignments()

◆ argmax()

◆ choose() [1/2]

◆ choose() [2/2]

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ evaluate() [1/2]

◆ evaluate() [2/2]

◆ frontalAssignments()

◆ html()

◆ likelihood() [1/2]

◆ likelihood() [2/2]

◆ logProbability() [1/2]

◆ logProbability() [2/2]

◆ marginal()

◆ markdown()

◆ negLogConstant()

◆ operator*()

◆ print()

◆ printSignature()

◆ sample() [1/3]

◆ sample() [2/3]

◆ sample() [3/3]

◆ sampleInPlace()