#include <DiscreteDistribution.h>
Inheritance diagram for gtsam::DiscreteDistribution:
Public Types | |
| using | Base = DiscreteConditional |
 Public Types inherited from gtsam::DiscreteConditional | |
| 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 | |
| DiscreteDistribution () | |
| Default constructor needed for serialization. More... | |
| DiscreteDistribution (const DecisionTreeFactor &f) | |
| Constructor from factor. More... | |
| DiscreteDistribution (const Signature &s) | |
| DiscreteDistribution (const DiscreteKey &key, const std::vector< double > &spec) | |
| DiscreteDistribution (const DiscreteKey &key, const std::string &spec) | |
Testable | |
| void | print (const std::string &s="Discrete Prior: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| GTSAM-style print. More... | |
Standard interface | |
| double | operator() (size_t value) const |
| Evaluate given a single value. More... | |
| std::vector< double > | pmf () const |
| We also want to keep the Base version, taking DiscreteValues: More... | |
| Public Member Functions inherited from gtsam::DiscreteConditional | |
| 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 |
| bool | equals (const DiscreteFactor &other, double tol=1e-9) const override |
| GTSAM-style equals. More... | |
| 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 |
| 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... | |
| 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... | |
| 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 () |
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... | |
| Protected Member Functions inherited from gtsam::DiscreteConditional | |
| 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) | |
| 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
A prior probability on a set of discrete variables. Derives from DiscreteConditional
Definition at line 33 of file DiscreteDistribution.h.
Member Typedef Documentation
◆ Base
Definition at line 35 of file DiscreteDistribution.h.
Constructor & Destructor Documentation
◆ DiscreteDistribution() [1/5]
|
inline |
Default constructor needed for serialization.
Definition at line 41 of file DiscreteDistribution.h.
◆ DiscreteDistribution() [2/5]
|
inlineexplicit |
Constructor from factor.
Definition at line 44 of file DiscreteDistribution.h.
◆ DiscreteDistribution() [3/5]
|
inlineexplicit |
Construct from a Signature.
Example: DiscreteDistribution P(D % "3/2");
Definition at line 52 of file DiscreteDistribution.h.
◆ DiscreteDistribution() [4/5]
|
inline |
Construct from key and a vector of floats specifying the probability mass function (PMF).
Example: DiscreteDistribution P(D, {0.4, 0.6});
Definition at line 60 of file DiscreteDistribution.h.
◆ DiscreteDistribution() [5/5]
|
inline |
Construct from key and a string specifying the probability mass function (PMF).
Example: DiscreteDistribution P(D, "9/1 2/8 3/7 1/9");
Definition at line 69 of file DiscreteDistribution.h.
Member Function Documentation
◆ operator()()
| double gtsam::DiscreteDistribution::operator() | ( | size_t | value | ) | const |
Evaluate given a single value.
Definition at line 29 of file DiscreteDistribution.cpp.
◆ pmf()
| std::vector< double > gtsam::DiscreteDistribution::pmf | ( | ) | const |
We also want to keep the Base version, taking DiscreteValues:
Return entire probability mass function.
Definition at line 39 of file DiscreteDistribution.cpp.
◆ print()
|
overridevirtual |
GTSAM-style print.
Reimplemented from gtsam::DiscreteConditional.
Definition at line 24 of file DiscreteDistribution.cpp.
The documentation for this class was generated from the following files: