Merge pull request #1013 from borglab/feature/remove_potentials

Remove Potentials

Author: ProfFan

gtsam/discrete/AlgebraicDecisionTree.h

@@ -179,5 +179,6 @@ namespace gtsam {
   };
 // AlgebraicDecisionTree
 
+template<typename T> struct traits<AlgebraicDecisionTree<T>> : public Testable<AlgebraicDecisionTree<T>> {};
 }
 // namespace gtsam

gtsam/discrete/DecisionTreeFactor.cpp

@@ -34,12 +34,13 @@ namespace gtsam {
   /* ******************************************************************************** */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys& keys,
       const ADT& potentials) :
-      DiscreteFactor(keys.indices()), Potentials(keys, potentials) {
+      DiscreteFactor(keys.indices()), ADT(potentials),
+      cardinalities_(keys.cardinalities()) {
   }
 
   /* *************************************************************************/
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteConditional& c) :
-      DiscreteFactor(c.keys()), Potentials(c) {
+      DiscreteFactor(c.keys()), AlgebraicDecisionTree<Key>(c), cardinalities_(c.cardinalities_) {
   }
 
   /* ************************************************************************* */
@@ -48,16 +49,24 @@ namespace gtsam {
       return false;
     }
     else {
-      const DecisionTreeFactor& f(static_cast<const DecisionTreeFactor&>(other));
-      return Potentials::equals(f, tol);
+      const auto& f(static_cast<const DecisionTreeFactor&>(other));
+      return ADT::equals(f, tol);
     }
   }
 
+  /* ************************************************************************* */
+  double DecisionTreeFactor::safe_div(const double &a, const double &b)  {
+    // The use for safe_div is when we divide the product factor by the sum
+    // factor. If the product or sum is zero, we accord zero probability to the
+    // event.
+    return (a == 0 || b == 0) ? 0 : (a / b);
+  }
+
   /* ************************************************************************* */
   void DecisionTreeFactor::print(const string& s,
       const KeyFormatter& formatter) const {
     cout << s;
-    Potentials::print("Potentials:",formatter);
+    ADT::print("Potentials:",formatter);
   }
 
   /* ************************************************************************* */
@@ -162,20 +171,20 @@ namespace gtsam {
   void DecisionTreeFactor::dot(std::ostream& os,
                                const KeyFormatter& keyFormatter,
                                bool showZero) const {
-    Potentials::dot(os, keyFormatter, valueFormatter, showZero);
+    ADT::dot(os, keyFormatter, valueFormatter, showZero);
   }
 
   /** output to graphviz format, open a file */
   void DecisionTreeFactor::dot(const std::string& name,
                                const KeyFormatter& keyFormatter,
                                bool showZero) const {
-    Potentials::dot(name, keyFormatter, valueFormatter, showZero);
+    ADT::dot(name, keyFormatter, valueFormatter, showZero);
   }
 
   /** output to graphviz format string */
   std::string DecisionTreeFactor::dot(const KeyFormatter& keyFormatter,
                                       bool showZero) const {
-    return Potentials::dot(keyFormatter, valueFormatter, showZero);
+    return ADT::dot(keyFormatter, valueFormatter, showZero);
   }
 
   /* ************************************************************************* */
@@ -209,5 +218,15 @@ namespace gtsam {
     return ss.str();
   }
 
+  DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys &keys, const vector<double> &table) :
+          DiscreteFactor(keys.indices()), AlgebraicDecisionTree<Key>(keys, table),
+          cardinalities_(keys.cardinalities()) {
+  }
+
+  DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys &keys, const string &table) :
+          DiscreteFactor(keys.indices()), AlgebraicDecisionTree<Key>(keys, table),
+          cardinalities_(keys.cardinalities()) {
+  }
+
   /* ************************************************************************* */
 } // namespace gtsam

gtsam/discrete/DecisionTreeFactor.h

@@ -19,7 +19,8 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteFactor.h>
-#include <gtsam/discrete/Potentials.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/AlgebraicDecisionTree.h>
 #include <gtsam/inference/Ordering.h>
 
 #include <boost/shared_ptr.hpp>
@@ -35,14 +36,18 @@ namespace gtsam {
   /**
    * A discrete probabilistic factor
    */
-  class GTSAM_EXPORT DecisionTreeFactor: public DiscreteFactor, public Potentials {
+  class GTSAM_EXPORT DecisionTreeFactor: public DiscreteFactor, public AlgebraicDecisionTree<Key> {
 
   public:
 
     // typedefs needed to play nice with gtsam
     typedef DecisionTreeFactor This;
     typedef DiscreteFactor Base; ///< Typedef to base class
     typedef boost::shared_ptr<DecisionTreeFactor> shared_ptr;
+    typedef AlgebraicDecisionTree<Key> ADT;
+
+  protected:
+    std::map<Key,size_t> cardinalities_;
 
   public:
 
@@ -55,11 +60,11 @@ namespace gtsam {
     /** Constructor from Indices, Ordering, and AlgebraicDecisionDiagram */
     DecisionTreeFactor(const DiscreteKeys& keys, const ADT& potentials);
 
-    /** Constructor from Indices and (string or doubles) */
-    template<class SOURCE>
-    DecisionTreeFactor(const DiscreteKeys& keys, SOURCE table) :
-        DiscreteFactor(keys.indices()), Potentials(keys, table) {
-    }
+    /** Constructor from doubles */
+    DecisionTreeFactor(const DiscreteKeys& keys, const std::vector<double>& table);
+
+    /** Constructor from string */
+    DecisionTreeFactor(const DiscreteKeys& keys, const std::string& table);
 
     /// Single-key specialization
     template <class SOURCE>
@@ -71,7 +76,7 @@ namespace gtsam {
         : DecisionTreeFactor(DiscreteKeys{key}, row) {}
 
     /** Construct from a DiscreteConditional type */
-    DecisionTreeFactor(const DiscreteConditional& c);
+    explicit DecisionTreeFactor(const DiscreteConditional& c);
 
     /// @}
     /// @name Testable
@@ -90,14 +95,18 @@ namespace gtsam {
 
     /// Value is just look up in AlgebraicDecisonTree
     double operator()(const DiscreteValues& values) const override {
-      return Potentials::operator()(values);
+      return ADT::operator()(values);
     }
 
     /// multiply two factors
     DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override {
       return apply(f, ADT::Ring::mul);
     }
 
+    static double safe_div(const double& a, const double& b);
+
+    size_t cardinality(Key j) const { return cardinalities_.at(j);}
+
     /// divide by factor f (safely)
     DecisionTreeFactor operator/(const DecisionTreeFactor& f) const {
       return apply(f, safe_div);

gtsam/discrete/DiscreteConditional.cpp

@@ -80,7 +80,7 @@ void DiscreteConditional::print(const string& s,
     }
   }
   cout << ")";
-  Potentials::print("");
+  ADT::print("");
   cout << endl;
 }
 

gtsam/discrete/DiscreteConditional.h

@@ -128,7 +128,7 @@ class GTSAM_EXPORT DiscreteConditional: public DecisionTreeFactor,
 
   /// Evaluate, just look up in AlgebraicDecisonTree
   double operator()(const DiscreteValues& values) const override {
-    return Potentials::operator()(values);
+    return ADT::operator()(values);
   }
 
   /** Convert to a factor */