Add logDensity and evaluate to GaussianBN and HybridBN #1352
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dellaert
commented
Dec 28, 2022
dellaert
commented
- Add logDensity and evaluate to GaussianBN and HybridBN
- Added a test to make sure pdf integrates to 1 for 1D GaussianConditionals
- Added a test of sampling to do a Monte Carlo estimate of variance
- Also:
- renamed asDiscreteConditional to asDiscrete to be consistent
- changed the static cast to a dynamic cast for more elegant code
# Conflicts: # gtsam/hybrid/HybridBayesNet.cpp # gtsam/hybrid/tests/testHybridBayesNet.cpp
| boost::make_shared<GaussianMixture>(*gaussianMixture); | ||
| prunedGaussianMixture->prune(*decisionTree); | ||
| auto prunedGaussianMixture = boost::make_shared<GaussianMixture>(*gm); | ||
| prunedGaussianMixture->prune(*decisionTree); // imperative :-( |
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Should make an issue for this? There may have been a reason why I (a Lisp lover) made this imperative, so it'll be good to re-examine this now.
| } | ||
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| /* ************************************************************************* */ | ||
| GaussianBayesNet HybridBayesNet::choose( | ||
| const DiscreteValues &assignment) const { | ||
| GaussianBayesNet gbn; | ||
| for (auto &&conditional : *this) { | ||
| if (conditional->isHybrid()) { | ||
| if (auto gm = conditional->asMixture()) { |
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I feel this is less readable just to save 1 line of code, but okay.
| } | ||
| } | ||
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| DiscreteValues mpe = DiscreteFactorGraph(discrete_bn).optimize(); | ||
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| // Given the MPE, compute the optimal continuous values. | ||
| GaussianBayesNet gbn = this->choose(mpe); | ||
| GaussianBayesNet gbn = choose(mpe); |
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I generally like using this because:
- Specifies this is a class method similar to
selfin python. - Auto-complete works better.
| @@ -284,23 +300,20 @@ AlgebraicDecisionTree<Key> HybridBayesNet::error( | |||
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| // Iterate over each conditional. | |||
| for (auto &&conditional : *this) { | |||
| if (conditional->isHybrid()) { | |||
| if (auto gm = conditional->asMixture()) { | |||
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Again, this is more clever but sacrifices readability...
varunagrawal
approved these changes
Dec 29, 2022
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