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Discrete Elimination Refactor#1919

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varunagrawal merged 66 commits intodevelopborglab/gtsam:developfrom discrete-elimination-refactorborglab/gtsam:discrete-elimination-refactorCopy head branch name to clipboardJan 7, 2025

+188-60

Commits

Commits on Dec 7, 2024

• add nrValues method

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  d1d440a

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• operator* version which accepts DiscreteFactor

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• return DiscreteFactor shared_ptr as leftover from elimination

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• generalize DiscreteFactorGraph::product to DiscreteFactor

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• make normalization code common

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• make sum and max DiscreteFactor methods

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• add timing info

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• add note about toDecisionTreeFactor

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• kill toDecisionTreeFactor to force rethink

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• DiscreteDistribution from TableFactor

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• make evaluate use the Assignment<Key> base class

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• use Assignment<Key> for evaluate since it is the base class

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Commits on Dec 8, 2024

• remove TableFactor constructor in DiscreteDistribution

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• use Assignment<Key> since it is a base class

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• fix DiscreteConditional constructor

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• use DiscreteFactor everywhere in DiscreteFactorGraph.cpp

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• update DiscreteConditional

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• Revert "kill toDecisionTreeFactor to force rethink"

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• make DiscreteConditional::likelihood match the declaration

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• get different classes to play nicely

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• compiles

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• timing

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• move evaluate and operator() next to each other

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• implement evaluate in DiscreteFactor

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• change from DiscreteValues to Assignment<Key>

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• use BaseFactor instead of DecisionTreeFactor

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• Merge branch 'ring' into discrete-elimination-refactor

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• common definitions of Unary, UnaryAssignment and Binary

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  e6b6528

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• some cleanup based on previous commit

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  f85284a

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• remove previously added code

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  5e86f7e

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• revert changes to make code generic

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  1c14a56

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• revert DiscreteFactorGraph::product

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• revert some DiscreteFactorGraph changes

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• add methods in gtsam_unstable

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• add division with DiscreteFactor::shared_ptr for convenience

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• fix tests

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• undo uncomment

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• add evaluate to DiscreteConditional

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• keep using DecisionTreeFactor for DiscreteConditional

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• more fixes

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Commits on Dec 9, 2024

• Merge branch 'develop' into discrete-elimination-refactor

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  0de114f

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• TableFactor cleanup

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  e46cd54

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• add division by DiscreteFactor in TableFactor

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• cleanup

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  e0e833c

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• fix error

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Commits on Dec 10, 2024

• Merge branch 'develop' into discrete-elimination-refactor

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Commits on Dec 11, 2024

• Merge branch 'develop' into discrete-elimination-refactor

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• don't print timing info by default

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Commits on Dec 30, 2024

• Merge branch 'develop' into discrete-elimination-refactor

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Commits on Jan 5, 2025

• Merge branch 'develop' into discrete-elimination-refactor

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• small improvements

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  5fa04d7

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• multiply method for DiscreteFactor

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• remove override from definition

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• Merge branch 'discrete-multiply' into discrete-elimination-refactor

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Commits on Jan 6, 2025

• use DecisionTreeFactor version of sum and max where not available

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• divide operator for DiscreteFactor::shared_ptr

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• fix constructor

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  fb1d52a

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• update DiscreteFactorGraph to use DiscreteFactor::shared_ptr for elimination

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• update tests

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• undo print change in DiscreteLookupTable

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• Merge branch 'discrete-multiply' into discrete-elimination-refactor

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• move operator/ to Constraint.h

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• move sum, max and nrValues to Constraint class as well

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• check pointer casts

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• use DiscreteFactor for DiscreteConditional constructor

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• add comments

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