DecisionTreeFactor.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/discrete/DiscreteFactor.h>
#include <gtsam/discrete/Potentials.h>
#include <gtsam/inference/Ordering.h>

#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>

#include <vector>
#include <exception>
#include <stdexcept>

namespace gtsam {

  class DiscreteConditional;

  class GTSAM_EXPORT DecisionTreeFactor: public DiscreteFactor, public Potentials {

  public:

    // typedefs needed to play nice with gtsam
    typedef DecisionTreeFactor This;
    typedef DiscreteFactor Base; 
    typedef boost::shared_ptr<DecisionTreeFactor> shared_ptr;

  public:


    DecisionTreeFactor();

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

    template<class SOURCE>
    DecisionTreeFactor(const DiscreteKeys& keys, SOURCE table) :
        DiscreteFactor(keys.indices()), Potentials(keys, table) {
    }

    DecisionTreeFactor(const DiscreteConditional& c);


    bool equals(const DiscreteFactor& other, double tol = 1e-9) const;

    // print
    virtual void print(const std::string& s = "DecisionTreeFactor:\n",
        const KeyFormatter& formatter = DefaultKeyFormatter) const;


    virtual double operator()(const Values& values) const {
      return Potentials::operator()(values);
    }

    DecisionTreeFactor operator*(const DecisionTreeFactor& f) const {
      return apply(f, ADT::Ring::mul);
    }

    DecisionTreeFactor operator/(const DecisionTreeFactor& f) const {
      return apply(f, safe_div);
    }

    virtual DecisionTreeFactor toDecisionTreeFactor() const {
      return *this;
    }

    shared_ptr sum(size_t nrFrontals) const {
      return combine(nrFrontals, ADT::Ring::add);
    }

    shared_ptr sum(const Ordering& keys) const {
      return combine(keys, ADT::Ring::add);
    }

    shared_ptr max(size_t nrFrontals) const {
      return combine(nrFrontals, ADT::Ring::max);
    }


    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;


//    /**
//     * @brief Permutes the keys in Potentials and DiscreteFactor
//     *
//     * This re-implements the permuteWithInverse() in both Potentials
//     * and DiscreteFactor by doing both of them together.
//     */
//
//    void permuteWithInverse(const Permutation& inversePermutation){
//      DiscreteFactor::permuteWithInverse(inversePermutation);
//      Potentials::permuteWithInverse(inversePermutation);
//    }
//
//    /**
//     * Apply a reduction, which is a remapping of variable indices.
//     */
//    virtual void reduceWithInverse(const internal::Reduction& inverseReduction) {
//      DiscreteFactor::reduceWithInverse(inverseReduction);
//      Potentials::reduceWithInverse(inverseReduction);
//    }

};
// DecisionTreeFactor

}// namespace gtsam