DiscreteFactor.h

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

 * 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/DiscreteValues.h>
#include <gtsam/inference/Factor.h>
#include <gtsam/base/Testable.h>

#include <string>
namespace gtsam {

class DecisionTreeFactor;
class DiscreteConditional;
class HybridValues;

class GTSAM_EXPORT DiscreteFactor: public Factor {

public:

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

  using Values = DiscreteValues; 

public:


  DiscreteFactor() {}

  template<typename CONTAINER>
  DiscreteFactor(const CONTAINER& keys) : Base(keys) {}


  virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;

  void print(
      const std::string& s = "DiscreteFactor\n",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override {
    Base::print(s, formatter);
  }


  virtual double operator()(const DiscreteValues&) const = 0;

  double error(const DiscreteValues& values) const;

  double error(const HybridValues& c) const override;

  virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0;

  virtual DecisionTreeFactor toDecisionTreeFactor() const = 0;

  
  using Names = DiscreteValues::Names;

  virtual std::string markdown(
      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
      const Names& names = {}) const = 0;

  virtual std::string html(
      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
      const Names& names = {}) const = 0;

};
// DiscreteFactor

// traits
template<> struct traits<DiscreteFactor> : public Testable<DiscreteFactor> {};


std::vector<double> expNormalize(const std::vector<double> &logProbs);


}// namespace gtsam