#include <DecisionTreeFactor.h>

Inheritance diagram for gtsam::DecisionTreeFactor:

[legend]

Public Types
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 Member Functions
Standard Constructors
	DecisionTreeFactor ()

	DecisionTreeFactor (const DiscreteKeys &keys, const ADT &potentials)

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

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

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)

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

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

Advanced Interface
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...

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

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

Wrapper support
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

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)

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

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

double	error (const HybridValues &c) const override

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 (double leaf=1.0)

	AlgebraicDecisionTree (const Base &add)

	AlgebraicDecisionTree (const Key &label, double y1, double y2)

	AlgebraicDecisionTree (const typename Base::LabelC &labelC, double y1, double y2)

	AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::vector< double > &ys)

	AlgebraicDecisionTree (const std::vector< typename Base::LabelC > &labelCs, const std::string &table)

	AlgebraicDecisionTree (Iterator begin, Iterator end, const Key &label)

	AlgebraicDecisionTree (const AlgebraicDecisionTree< M > &other, const std::map< M, Key > &map)

bool	equals (const AlgebraicDecisionTree &other, double tol=1e-9) const
	Equality method customized to value type `double`. More...

AlgebraicDecisionTree	operator* (const AlgebraicDecisionTree &g) 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...

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 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 transate labels via map from type M to L. More...

	DecisionTree (const NodePtr &root)

NodePtr	compose (Iterator begin, Iterator end, const Key &label) const

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

Protected Attributes
std::map< Key, size_t >	cardinalities_

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

Standard Interface
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...

DecisionTreeFactor	operator* (const DecisionTreeFactor &f) const override
	multiply two factors More...

size_t	cardinality (Key j) const

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

DecisionTreeFactor	toDecisionTreeFactor () const override
	Convert into a decisiontree. 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
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::Factor
	Factor ()

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

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

Protected Member Functions inherited from gtsam::DecisionTree< Key, double >
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) const
	Convert from a DecisionTree<M, X> to DecisionTree<L, Y>. More...

NodePtr	create (It begin, It end, ValueIt beginY, ValueIt endY) const

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 bool	DefaultCompare (const double &a, const double &b)
	Default method for comparison of two objects of type Y. More...

Detailed Description

A discrete probabilistic factor.

Definition at line 44 of file DecisionTreeFactor.h.

Member Typedef Documentation

◆ ADT

typedef AlgebraicDecisionTree<Key> gtsam::DecisionTreeFactor::ADT

Definition at line 51 of file DecisionTreeFactor.h.

◆ Base

typedef DiscreteFactor gtsam::DecisionTreeFactor::Base

Typedef to base class.

Definition at line 49 of file DecisionTreeFactor.h.

◆ shared_ptr

typedef std::shared_ptr<DecisionTreeFactor> gtsam::DecisionTreeFactor::shared_ptr

Definition at line 50 of file DecisionTreeFactor.h.

◆ This

typedef DecisionTreeFactor gtsam::DecisionTreeFactor::This

Definition at line 48 of file DecisionTreeFactor.h.

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/7]

gtsam::DecisionTreeFactor::DecisionTreeFactor ( )

Default constructor for I/O

Definition at line 32 of file DecisionTreeFactor.cpp.

◆ DecisionTreeFactor() [2/7]

gtsam::DecisionTreeFactor::DecisionTreeFactor	(	const DiscreteKeys &	keys,
		const ADT &	potentials
	)

Constructor from DiscreteKeys and AlgebraicDecisionTree

Definition at line 35 of file DecisionTreeFactor.cpp.

◆ DecisionTreeFactor() [3/7]

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

Constructor from doubles

Definition at line 290 of file DecisionTreeFactor.cpp.

◆ DecisionTreeFactor() [4/7]

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

Constructor from string

Definition at line 297 of file DecisionTreeFactor.cpp.

◆ DecisionTreeFactor() [5/7]

template<class SOURCE >

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

inline

Single-key specialization.

Definition at line 75 of file DecisionTreeFactor.h.

◆ DecisionTreeFactor() [6/7]

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

inline

Single-key specialization, with vector of doubles.

Definition at line 79 of file DecisionTreeFactor.h.

◆ DecisionTreeFactor() [7/7]

gtsam::DecisionTreeFactor::DecisionTreeFactor ( const DiscreteConditional & c )

explicit

Construct from a DiscreteConditional type

Definition at line 42 of file DecisionTreeFactor.cpp.

Member Function Documentation

◆ apply()

DecisionTreeFactor gtsam::DecisionTreeFactor::apply	(	const DecisionTreeFactor &	f,
		ADT::Binary	op
	)		const

Apply binary operator (*this) "op" f

Parameters

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

Definition at line 89 of file DecisionTreeFactor.cpp.

◆ cardinality()

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

inline

Definition at line 122 of file DecisionTreeFactor.h.

◆ combine() [1/2]

DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine	(	size_t	nrFrontals,
		ADT::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 AlgebraicDecisionTree

Returns: shared pointer to newly created DecisionTreeFactor

Definition at line 108 of file DecisionTreeFactor.cpp.

◆ combine() [2/2]

DecisionTreeFactor::shared_ptr gtsam::DecisionTreeFactor::combine	(	const Ordering &	keys,
		ADT::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 AlgebraicDecisionTree

Returns: shared pointer to newly created DecisionTreeFactor

Definition at line 135 of file DecisionTreeFactor.cpp.

◆ discreteKeys()

DiscreteKeys gtsam::DecisionTreeFactor::discreteKeys ( ) const

Return all the discrete keys associated with this factor.

Definition at line 185 of file DecisionTreeFactor.cpp.

◆ dot() [1/3]

void gtsam::DecisionTreeFactor::dot	(	std::ostream &	os,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		bool	showZero = `true`
	)		const

output to graphviz format, stream version

Definition at line 204 of file DecisionTreeFactor.cpp.

◆ dot() [2/3]

void gtsam::DecisionTreeFactor::dot	(	const std::string &	name,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		bool	showZero = `true`
	)		const

output to graphviz format, open a file

Definition at line 211 of file DecisionTreeFactor.cpp.

◆ dot() [3/3]

std::string gtsam::DecisionTreeFactor::dot	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		bool	showZero = `true`
	)		const

output to graphviz format string

Definition at line 218 of file DecisionTreeFactor.cpp.

◆ enumerate()

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

Enumerate all values into a map from values to double.

Definition at line 168 of file DecisionTreeFactor.cpp.

◆ equals()

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

overridevirtual

equality

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::DiscreteConditional.

Definition at line 48 of file DecisionTreeFactor.cpp.

◆ error() [1/2]

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

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

Definition at line 59 of file DecisionTreeFactor.cpp.

◆ error() [2/2]

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

overridevirtual

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

Reimplemented from gtsam::Factor.

Definition at line 64 of file DecisionTreeFactor.cpp.

◆ evaluate()

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

inline

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

Definition at line 103 of file DecisionTreeFactor.h.

◆ html()

string gtsam::DecisionTreeFactor::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.

Reimplemented in gtsam::DiscreteConditional.

Definition at line 256 of file DecisionTreeFactor.cpp.

◆ markdown()

string gtsam::DecisionTreeFactor::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.

Reimplemented in gtsam::DiscreteConditional.

Definition at line 225 of file DecisionTreeFactor.cpp.

◆ max() [1/2]

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

inline

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

Definition at line 143 of file DecisionTreeFactor.h.

◆ max() [2/2]

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

inline

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

Definition at line 148 of file DecisionTreeFactor.h.

◆ operator()()

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

inlineoverridevirtual

Evaluate probability distribution, sugar.

Implements gtsam::DiscreteFactor.

Definition at line 108 of file DecisionTreeFactor.h.

◆ operator*()

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

inlineoverridevirtual

multiply two factors

Implements gtsam::DiscreteFactor.

Definition at line 116 of file DecisionTreeFactor.h.

◆ operator/()

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

inline

divide by factor f (safely)

Definition at line 125 of file DecisionTreeFactor.h.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

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

Definition at line 77 of file DecisionTreeFactor.cpp.

◆ prune()

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

Prune the decision tree of discrete variables.

Pruning will set the leaves 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: DecisionTreeFactor

Definition at line 304 of file DecisionTreeFactor.cpp.

◆ safe_div()

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

static

Definition at line 69 of file DecisionTreeFactor.cpp.

◆ sum() [1/2]

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

inline

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

Definition at line 133 of file DecisionTreeFactor.h.

◆ sum() [2/2]

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

inline

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

Definition at line 138 of file DecisionTreeFactor.h.

◆ toDecisionTreeFactor()

DecisionTreeFactor gtsam::DecisionTreeFactor::toDecisionTreeFactor ( ) const

inlineoverridevirtual

Convert into a decisiontree.

Implements gtsam::DiscreteFactor.

Definition at line 130 of file DecisionTreeFactor.h.

Member Data Documentation

◆ cardinalities_

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

protected

Definition at line 54 of file DecisionTreeFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Standard Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ADT

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/7]

◆ DecisionTreeFactor() [2/7]

◆ DecisionTreeFactor() [3/7]

◆ DecisionTreeFactor() [4/7]

◆ DecisionTreeFactor() [5/7]

◆ DecisionTreeFactor() [6/7]

◆ DecisionTreeFactor() [7/7]

Member Function Documentation

◆ apply()

◆ cardinality()

◆ combine() [1/2]

◆ combine() [2/2]

◆ discreteKeys()

◆ dot() [1/3]

◆ dot() [2/3]

◆ dot() [3/3]

◆ enumerate()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ evaluate()

◆ html()

◆ markdown()

◆ max() [1/2]

◆ max() [2/2]

◆ operator()()

◆ operator*()

◆ operator/()

◆ print()

◆ prune()

◆ safe_div()

◆ sum() [1/2]

◆ sum() [2/2]

◆ toDecisionTreeFactor()

Member Data Documentation

◆ cardinalities_