#include <DecisionTreeFactor.h>

Inheritance diagram for gtsam::DecisionTreeFactor:

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Collaboration diagram for gtsam::DecisionTreeFactor:

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Public Types
typedef DecisionTreeFactor	This

typedef DiscreteFactor	Base
	Typedef to base class.

typedef std::shared_ptr< DecisionTreeFactor >	shared_ptr

typedef AlgebraicDecisionTree< Key >	ADT

using	Values = DiscreteValues
	backwards compatibility

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

using	LabelFormatter = std::function< std::string(Key)>

using	ValueFormatter = std::function< std::string(double)>

using	CompareFunc = std::function< bool(const double &, const double &)>

using	Unary = std::function< double(const double &)>

using	UnaryAssignment = std::function< double(const Assignment< Key > &, const double &)>

using	Binary = std::function< double(const double &, const double &)>

using	LabelC = std::pair< Key, size_t >

using	NodePtr = typename Node::Ptr

Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.

Public Member Functions
AlgebraicDecisionTree	operator+ (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	operator* (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	operator/ (const AlgebraicDecisionTree &g) const

AlgebraicDecisionTree	sum (const Key &label, size_t cardinality) const

AlgebraicDecisionTree	sum (const typename Base::LabelC &labelC) const

void	print (const std::string &s="", const typename Base::LabelFormatter &labelFormatter=&DefaultFormatter) const
	print method customized to value type `double`.

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

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.

	DecisionTreeFactor (const DiscreteKey &key, const std::vector< double > &row)
	Single-key specialization, with vector of doubles.

	DecisionTreeFactor (const DiscreteConditional &c)

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

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

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.

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

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

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

Standard Interface
bool	empty () const
	Whether the factor is empty (involves zero variables).

Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Testable
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

Standard Interface
bool	empty () const
	Check if tree is empty.

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.

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

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

Public Attributes
NodePtr	root_
	A DecisionTree just contains the root. TODO(dellaert): make protected.

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

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...

Static Protected Member Functions
static bool	DefaultCompare (const double &a, const double &b)
	Default method for comparison of two objects of type Y.

Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

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

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

KeyVector	keys_
	The keys involved in this factor.

Standard Interface
double	evaluate (const DiscreteValues &values) const

double	operator() (const DiscreteValues &values) const override
	Evaluate probability distribution, sugar.

double	error (const DiscreteValues &values) const
	Calculate error for DiscreteValues `x`, is -log(probability).

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

size_t	cardinality (Key j) const

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

DecisionTreeFactor	toDecisionTreeFactor () const override
	Convert into a decisiontree.

shared_ptr	sum (size_t nrFrontals) const
	Create new factor by summing all values with the same separator values.

shared_ptr	sum (const Ordering &keys) const
	Create new factor by summing all values with the same separator values.

shared_ptr	max (size_t nrFrontals) const
	Create new factor by maximizing over all values with the same separator.

shared_ptr	max (const Ordering &keys) const
	Create new factor by maximizing over all values with the same separator.

static double	safe_div (const double &a, const double &b)

Detailed Description

A discrete probabilistic factor.

Member Typedef Documentation

◆ LabelC

using gtsam::DecisionTree< Key , double >::LabelC = std::pair<Key , size_t>

inherited

A label annotated with cardinality

◆ NodePtr

using gtsam::DecisionTree< Key , double >::NodePtr = typename Node::Ptr

inherited

------------------—— Node base class ---------------------—— A function is a shared pointer to the root of a DT

◆ Unary

using gtsam::DecisionTree< Key , double >::Unary = std::function<double (const double &)>

inherited

Handy typedefs for unary and binary function types

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/5]

gtsam::DecisionTreeFactor::DecisionTreeFactor ( )

Default constructor for I/O

◆ DecisionTreeFactor() [2/5]

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

Constructor from DiscreteKeys and AlgebraicDecisionTree

◆ DecisionTreeFactor() [3/5]

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

Constructor from doubles

◆ DecisionTreeFactor() [4/5]

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

Constructor from string

◆ DecisionTreeFactor() [5/5]

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

explicit

Construct from a DiscreteConditional type

Member Function Documentation

◆ apply() [1/4]

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

◆ apply() [2/4]

DecisionTree< Key , double > gtsam::DecisionTree< Key , double >::apply ( const Unary & op ) const

inherited

apply Unary operation "op" to f

◆ apply() [3/4]

DecisionTree< Key , double > gtsam::DecisionTree< Key , double >::apply ( const UnaryAssignment & op ) const

inherited

Apply Unary operation "op" to f while also providing the corresponding assignment.

Apply unary operator with assignment.

Parameters

op	Function which takes Assignment<L> and Y as input and returns object of type Y.

Returns: DecisionTree

◆ apply() [4/4]

DecisionTree< Key , double > gtsam::DecisionTree< Key , double >::apply	(	const DecisionTree< Key, double > &	g,
		const Binary &	op
	)		const

inherited

apply binary operation "op" to f and g

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

◆ choose()

DecisionTree gtsam::DecisionTree< Key , double >::choose	(	const Key &	label,
		size_t	index
	)		const

inlineinherited

create a new function where value(label)==index It's like "restrict" in Darwiche09book pg329, 330?

◆ combine() [1/4]

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

◆ combine() [2/4]

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

◆ combine() [3/4]

DecisionTree< Key , double > gtsam::DecisionTree< Key , double >::combine	(	const Key &	label,
		size_t	cardinality,
		const Binary &	op
	)		const

inherited

combine subtrees on key with binary operation "op"

◆ combine() [4/4]

DecisionTree gtsam::DecisionTree< Key , double >::combine	(	const LabelC &	labelC,
		const Binary &	op
	)		const

inlineinherited

combine with LabelC for convenience

◆ convertFrom()

DecisionTree< Key , double >::NodePtr gtsam::DecisionTree< Key , double >::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

protectedinherited

Convert from a DecisionTree<M, X> to DecisionTree<L, Y>.

Template Parameters

M	The previous label type.
X	The previous value type.

Parameters

f	The node pointer to the root of the previous DecisionTree.
L_of_M	Functor to convert from label type M to type L.
Y_of_X	Functor to convert from value type X to type Y.

Returns: NodePtr

◆ create()

DecisionTree< Key , double >::NodePtr gtsam::DecisionTree< Key , double >::create	(	It	begin,
		It	end,
		ValueIt	beginY,
		ValueIt	endY
	)		const

protectedinherited

Internal recursive function to create from keys, cardinalities, and Y values

◆ dot() [1/6]

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

output to graphviz format, stream version

◆ dot() [2/6]

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

output to graphviz format, open a file

◆ dot() [3/6]

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

output to graphviz format string

◆ dot() [4/6]

void gtsam::DecisionTree< Key , double >::dot	(	std::ostream &	os,
		const LabelFormatter &	labelFormatter,
		const ValueFormatter &	valueFormatter,
		bool	showZero = `true`
	)		const

inherited

output to graphviz format, stream version

◆ dot() [5/6]

void gtsam::DecisionTree< Key , double >::dot	(	const std::string &	name,
		const LabelFormatter &	labelFormatter,
		const ValueFormatter &	valueFormatter,
		bool	showZero = `true`
	)		const

inherited

output to graphviz format, open a file

◆ dot() [6/6]

std::string gtsam::DecisionTree< Key , double >::dot	(	const LabelFormatter &	labelFormatter,
		const ValueFormatter &	valueFormatter,
		bool	showZero = `true`
	)		const

inherited

output to graphviz format string

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

◆ error()

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.

◆ evaluate()

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

inline

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

◆ fold()

X gtsam::DecisionTree< Key , double >::fold	(	Func	f,
		X	x0
	)		const

inherited

Fold a binary function over the tree, returning accumulator.

Template Parameters

X	type for accumulator.

Parameters

f	binary function: Y * X -> X returning an updated accumulator.
x0	initial value for accumulator.

Returns: X final value for accumulator.

Note: X is always passed by value.; Due to pruning, leaves might not exhaust choices.

Example: auto add = [](const double& y, double x) { return y + x; }; double sum = tree.fold(add, 0.0);

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotectedinherited

Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

inlinestaticprotectedinherited

Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ html()

std::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.

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ labels()

std::set< Key > gtsam::DecisionTree< Key , double >::labels ( ) const

inherited

Retrieve all unique labels as a set.

Get (partial) labels by performing a visit.

This method performs a depth-first search to go to every leaf and records the keys assignment which leads to that leaf. Since the tree can be pruned, there might be a leaf at a lower depth which results in a partial assignment (i.e. not all keys are specified).

E.g. given a tree with 3 keys, there may be a branch where the 3rd key has the same values for all the leaves. This leads to the branch being pruned so we get a leaf which is arrived at by just the first 2 keys and their assignments.

◆ markdown()

std::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.

◆ operator()()

const double & gtsam::DecisionTree< Key , double >::operator() ( const Assignment< Key > & x ) const

inherited

evaluate

◆ operator*()

AlgebraicDecisionTree gtsam::AlgebraicDecisionTree< Key >::operator* ( const AlgebraicDecisionTree< Key > & g ) const

inlineinherited

product

◆ operator+()

AlgebraicDecisionTree gtsam::AlgebraicDecisionTree< Key >::operator+ ( const AlgebraicDecisionTree< Key > & g ) const

inlineinherited

sum

◆ operator/()

AlgebraicDecisionTree gtsam::AlgebraicDecisionTree< Key >::operator/ ( const AlgebraicDecisionTree< Key > & g ) const

inlineinherited

division

◆ operator==()

bool gtsam::DecisionTree< Key , double >::operator== ( const DecisionTree< Key, double > & q ) const

inherited

equality

◆ print()

void gtsam::DecisionTree< Key , double >::print	(	const std::string &	s,
		const LabelFormatter &	labelFormatter,
		const ValueFormatter &	valueFormatter
	)		const

inherited

GTSAM-style print.

Parameters

s	Prefix string.
labelFormatter	Functor to format the node label.
valueFormatter	Functor to format the node value.

◆ 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

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

◆ sum() [1/2]

AlgebraicDecisionTree gtsam::AlgebraicDecisionTree< Key >::sum	(	const Key &	label,
		size_t	cardinality
	)		const

inlineinherited

sum out variable

◆ sum() [2/2]

AlgebraicDecisionTree gtsam::AlgebraicDecisionTree< Key >::sum ( const typename Base::LabelC & labelC ) const

inlineinherited

sum out variable

◆ visit()

void gtsam::DecisionTree< Key , double >::visit ( Func f ) const

inherited

Visit all leaves in depth-first fashion.

Parameters

f	(side-effect) Function taking the value of the leaf node.

Note: Due to pruning, the number of leaves may not be the same as the number of assignments. E.g. if we have a tree on 2 binary variables with all values being 1, then there are 2^2=4 assignments, but only 1 leaf.

Example: int sum = 0; auto visitor = [&](int y) { sum += y; }; tree.visit(visitor);

◆ visitLeaf()

void gtsam::DecisionTree< Key , double >::visitLeaf ( Func f ) const

inherited

Visit all leaves in depth-first fashion.

Parameters

f	(side-effect) Function taking the leaf node pointer.

Note: Due to pruning, the number of leaves may not be the same as the number of assignments. E.g. if we have a tree on 2 binary variables with all values being 1, then there are 2^2=4 assignments, but only 1 leaf.

Example: int sum = 0; auto visitor = [&](const Leaf& leaf) { sum += leaf.constant(); }; tree.visitLeaf(visitor);

◆ visitWith()

void gtsam::DecisionTree< Key , double >::visitWith ( Func f ) const

inherited

Visit all leaves in depth-first fashion.

Parameters

f	(side-effect) Function taking an assignment and a value.

Note: Due to pruning, the number of leaves may not be the same as the number of assignments. E.g. if we have a tree on 2 binary variables with all values being 1, then there are 2^2=4 assignments, but only 1 leaf.

Example: int sum = 0; auto visitor = [&](const Assignment<L>& assignment, int y) { sum += y; }; tree.visitWith(visitor);

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/discrete/DecisionTreeFactor.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Standard Interface

Detailed Description

Member Typedef Documentation

◆ LabelC

◆ NodePtr

◆ Unary

Constructor & Destructor Documentation

◆ DecisionTreeFactor() [1/5]

◆ DecisionTreeFactor() [2/5]

◆ DecisionTreeFactor() [3/5]

◆ DecisionTreeFactor() [4/5]

◆ DecisionTreeFactor() [5/5]

Member Function Documentation

◆ apply() [1/4]

◆ apply() [2/4]

◆ apply() [3/4]

◆ apply() [4/4]

◆ begin() [1/2]

◆ begin() [2/2]

◆ choose()

◆ combine() [1/4]

◆ combine() [2/4]

◆ combine() [3/4]

◆ combine() [4/4]

◆ convertFrom()

◆ create()

◆ dot() [1/6]

◆ dot() [2/6]

◆ dot() [3/6]

◆ dot() [4/6]

◆ dot() [5/6]

◆ dot() [6/6]

◆ end() [1/2]

◆ end() [2/2]

◆ error()

◆ evaluate()

◆ fold()

◆ FromIterators()

◆ FromKeys()

◆ html()

◆ keys()

◆ labels()

◆ markdown()

◆ operator()()

◆ operator*()

◆ operator+()

◆ operator/()

◆ operator==()

◆ print()

◆ prune()

◆ size()

◆ sum() [1/2]

◆ sum() [2/2]

◆ visit()

◆ visitLeaf()

◆ visitWith()