DiscreteLookupTable table for max-product. More...

#include <DiscreteLookupDAG.h>

Inheritance diagram for gtsam::DiscreteLookupTable:

[legend]

Public Types
using	BaseConditional = Conditional< DecisionTreeFactor, This >

using	shared_ptr = std::shared_ptr< This >

using	This = DiscreteLookupTable

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

void	argmaxInPlace (DiscreteValues *parentsValues) const
	Calculate assignment for frontal variables that maximizes value. More...

	DiscreteLookupTable (size_t nFrontals, const DiscreteKeys &keys, const ADT &potentials)
	Construct a new Discrete Lookup Table object. More...

void	print (const std::string &s="Discrete Lookup Table: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	GTSAM-style print. 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={})

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

DiscreteLookupTable table for max-product.

Inherits from discrete conditional for convenience, but is not normalized. Is used in the max-product algorithm.

Definition at line 40 of file DiscreteLookupDAG.h.

Member Typedef Documentation

◆ BaseConditional

using gtsam::DiscreteLookupTable::BaseConditional = Conditional<DecisionTreeFactor, This>

Definition at line 44 of file DiscreteLookupDAG.h.

◆ shared_ptr

using gtsam::DiscreteLookupTable::shared_ptr = std::shared_ptr<This>

Definition at line 43 of file DiscreteLookupDAG.h.

◆ This

using gtsam::DiscreteLookupTable::This = DiscreteLookupTable

Definition at line 42 of file DiscreteLookupDAG.h.

Constructor & Destructor Documentation

◆ DiscreteLookupTable()

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

inline

Construct a new Discrete Lookup Table object.

Parameters

nFrontals	number of frontal variables
keys	a sorted list of gtsam::Keys
potentials	the algebraic decision tree with lookup values

Definition at line 53 of file DiscreteLookupDAG.h.

Member Function Documentation

◆ argmax()

size_t gtsam::DiscreteLookupTable::argmax ( const DiscreteValues & parentsValues ) 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 82 of file DiscreteLookupDAG.cpp.

◆ argmaxInPlace()

void gtsam::DiscreteLookupTable::argmaxInPlace ( DiscreteValues * parentsValues ) const

Calculate assignment for frontal variables that maximizes value.

Parameters

(in/out) parentsValues Known assignments for the parents.

Definition at line 55 of file DiscreteLookupDAG.cpp.

◆ print()

void gtsam::DiscreteLookupTable::print	(	const std::string &	s = `"Discrete Lookup Table: "`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

GTSAM-style print.

Reimplemented from gtsam::DiscreteConditional.

Definition at line 34 of file DiscreteLookupDAG.cpp.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseConditional

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ DiscreteLookupTable()

Member Function Documentation

◆ argmax()

◆ argmaxInPlace()

◆ print()