Add Discrete-Continuous factor graph machinery #973
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| * https://github.com/borglab/gtsam/blob/43e8f1e5aeaf11890262722c1e5e04a11dbf9d75/gtsam_unstable/discrete/AllDiff.cpp#L43 | ||
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| * @param continuousVals - an assignment to the continuous variables | ||
| * @param discreteVals - |
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What is the role for discreteVals here? @keevindoherty should provide this knowledge :-)
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discreteVals is an assignment to the discrete variables. This is useful for a kind of discrete-continuous smart factor where we've eliminated some subset of variables conditioned on a joint discrete and continuous assignment. In our case, we are using these for semantic+geometric measurements with ambiguous associations in semantic SLAM. For max-product elimination, check out this max-mixture factor for example, or for sum-product, we have a discrete-continuous EMFactor here. There are perhaps other applications I haven't thought about yet. Not all DCFactors have to use these values, but we pass them in case they are needed.
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I don’t remember we had added this, @varunagrawal ?
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Yup, I added this. This is point 4 in the PR comment: since DCValues and DCMarginals are structs in DC_types.h, I just moved them to their own file so as to be consistent with the rest of GTSAM.
I took a bit of design liberty here, so I hope that's okay?
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Same comment about authorship...
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This file has Kevin as the sole author as per your recommendation. I only added myself as author to testDCMarginals.cpp since I wrote that file from scatch.
| DiscreteMarginals discrete; | ||
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| DCMarginals dc_marginals(continuous, discrete); | ||
| EXPECT(assert_type("gtsam::DCMarginals", dc_marginals)); |
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I don’t understand. Self-fulfilling prophecy?
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This is a barebones test for the default constructor. This ensures that everything is included correctly and that a basic operation works.
The idea is that since this is a test, it should assert something, so just assert that the type is as expected.
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C++ is strongly typed. Test anything, but type is known. Let's cherry pick assert_type in a branch if we ever need it, but please leave out of this PR.
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| * @file testDCValues.cpp |
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Same: is this something you added Varun? Design review??
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Yes, same reason as for DCMarginals, just an attempt to be consistent. Again, a bit of liberty taken.
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OK, but please list Kevin as author if you did not change the functionality, just the location. If you did change any code, explain what it is.
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Kevin is still the author on DCValues.h. I am the author on testDCValues.cpp since I wrote that whole file by myself (no copy involved).
Same situation for DCMarginals.h.
Signed-off-by: Fan Jiang <[email protected]>
…tantiate base class for elimination
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I think we should close this in favor of @ProfFan 's PR, right? If you agree please close, otherwise let's talk over email... |
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Closing this again until Fan’s PR is merged and then we can re-open a substantially modified PR for this. @varunagrawal please don’t reopen without talking to me first about the pans regarding that. |
This PR adds the following:
DCFactorandDCFactorGraphcode ported fromDCSAM(@keevindoherty has already looked at this part).expNormfunction toDiscreteFactor.[h|cpp].DCSAM_types.hi.e.DCValuesandDCMarginalsto their own files to conform to our codebase structure.assert_typewhich asserts whether an object has a specified type.assert_typefor simple constructor tests for DCValues and DCMarginals.