Merge pull request #1001 from borglab/feature/markdown_values

gtsam/discrete/DecisionTreeFactor.cpp

@@ -179,9 +179,9 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  std::string DecisionTreeFactor::markdown(
-      const KeyFormatter& keyFormatter) const {
-    std::stringstream ss;
+  string DecisionTreeFactor::markdown(const KeyFormatter& keyFormatter,
+                                      const Names& names) const {
+    stringstream ss;
 
     // Print out header and construct argument for `cartesianProduct`.
     ss << "|";
@@ -200,7 +200,10 @@ namespace gtsam {
     for (const auto& kv : rows) {
       ss << "|";
       auto assignment = kv.first;
-      for (auto& key : keys()) ss << assignment.at(key) << "|";
+      for (auto& key : keys()) {
+        size_t index = assignment.at(key);
+        ss << Translate(names, key, index) << "|";
+      }
       ss << kv.second << "|\n";
     }
     return ss.str();

gtsam/discrete/DecisionTreeFactor.h

@@ -192,9 +192,15 @@ namespace gtsam {
     std::string dot(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                     bool showZero = true) const;
 
-    /// Render as markdown table.
-    std::string markdown(
-        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
+    /**
+     * @brief Render as markdown table
+     *
+     * @param keyFormatter GTSAM-style Key formatter.
+     * @param names optional, category names corresponding to choices.
+     * @return std::string a markdown string.
+     */
+    std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                         const Names& names = {}) const override;
 
     /// @}
 

gtsam/discrete/DiscreteBayesNet.cpp

@@ -63,12 +63,13 @@ namespace gtsam {
 
   /* ************************************************************************* */
   std::string DiscreteBayesNet::markdown(
-      const KeyFormatter& keyFormatter) const {
+      const KeyFormatter& keyFormatter,
+      const DiscreteFactor::Names& names) const {
     using std::endl;
     std::stringstream ss;
     ss << "`DiscreteBayesNet` of size " << size() << endl << endl;
     for(const DiscreteConditional::shared_ptr& conditional: *this)
-      ss << conditional->markdown(keyFormatter) << endl;
+      ss << conditional->markdown(keyFormatter, names) << endl;
     return ss.str();
   }
 /* ************************************************************************* */

gtsam/discrete/DiscreteBayesNet.h

@@ -108,8 +108,8 @@ namespace gtsam {
     /// @{
 
     /// Render as markdown table.
-    std::string markdown(
-        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+    std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                         const DiscreteFactor::Names& names = {}) const;
 
     /// @}
 

gtsam/discrete/DiscreteBayesTree.cpp

@@ -57,13 +57,14 @@ namespace gtsam {
 
   /* **************************************************************************/
   std::string DiscreteBayesTree::markdown(
-      const KeyFormatter& keyFormatter) const {
+      const KeyFormatter& keyFormatter,
+      const DiscreteFactor::Names& names) const {
     using std::endl;
     std::stringstream ss;
     ss << "`DiscreteBayesTree` of size " << nodes_.size() << endl << endl;
     auto visitor = [&](const DiscreteBayesTreeClique::shared_ptr& clique,
                        size_t& indent) {
-      ss << "\n" << clique->conditional()->markdown(keyFormatter);
+      ss << "\n" << clique->conditional()->markdown(keyFormatter, names);
       return indent + 1;
     };
     size_t indent;

gtsam/discrete/DiscreteBayesTree.h

@@ -93,8 +93,8 @@ class GTSAM_EXPORT DiscreteBayesTree
   /// @{
 
   /// Render as markdown table.
-  std::string markdown(
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                       const DiscreteFactor::Names& names = {}) const;
 
   /// @}
 };

gtsam/discrete/DiscreteConditional.cpp

@@ -282,9 +282,18 @@ size_t DiscreteConditional::sample(size_t parent_value) const {
   return sample(values);
 }
 
+/* ******************************************************************************** */
+size_t DiscreteConditional::sample() const {
+  if (nrParents() != 0)
+    throw std::invalid_argument(
+        "sample() can only be invoked on no-parent prior");
+  DiscreteValues values;
+  return sample(values);
+}
+
 /* ************************************************************************* */
-std::string DiscreteConditional::markdown(
-    const KeyFormatter& keyFormatter) const {
+std::string DiscreteConditional::markdown(const KeyFormatter& keyFormatter,
+                                          const Names& names) const {
   std::stringstream ss;
 
   // Print out signature.
@@ -317,7 +326,7 @@ std::string DiscreteConditional::markdown(
   ss << "|";
   const_iterator it;
   for(Key parent: parents()) {
-    ss << keyFormatter(parent) << "|";
+    ss << "*" << keyFormatter(parent) << "*|";
     pairs.emplace_back(parent, cardinalities_.at(parent));
   }
 
@@ -331,7 +340,10 @@ std::string DiscreteConditional::markdown(
                                                pairs.rend() - nrParents());
   const auto frontal_assignments = cartesianProduct(slatnorf);
   for (const auto& a : frontal_assignments) {
-    for (it = beginFrontals(); it != endFrontals(); ++it) ss << a.at(*it);
+    for (it = beginFrontals(); it != endFrontals(); ++it) {
+      size_t index = a.at(*it);
+      ss << Translate(names, *it, index);
+    }
     ss << "|";
   }
   ss << "\n";
@@ -348,8 +360,10 @@ std::string DiscreteConditional::markdown(
   for (const auto& a : assignments) {
     if (count == 0) {
       ss << "|";
-      for (it = beginParents(); it != endParents(); ++it)
-        ss << a.at(*it) << "|";
+      for (it = beginParents(); it != endParents(); ++it) {
+        size_t index = a.at(*it);
+        ss << Translate(names, *it, index) << "|";
+      }
     }
     ss << operator()(a) << "|";
     count = (count + 1) % n;

gtsam/discrete/DiscreteConditional.h

@@ -162,9 +162,12 @@ class GTSAM_EXPORT DiscreteConditional: public DecisionTreeFactor,
   size_t sample(const DiscreteValues& parentsValues) const;
 
 
-  /// Single value version.
+  /// Single parent version.
   size_t sample(size_t parent_value) const;
 
+  /// Zero parent version.
+  size_t sample() const;
+
   /// @}
   /// @name Advanced Interface
   /// @{
@@ -180,8 +183,8 @@ class GTSAM_EXPORT DiscreteConditional: public DecisionTreeFactor,
   /// @{
 
   /// Render as markdown table.
-  std::string markdown(
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
+  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                       const Names& names = {}) const override;
 
   /// @}
 };

gtsam/discrete/DiscreteFactor.cpp

@@ -19,9 +19,20 @@
 
 #include <gtsam/discrete/DiscreteFactor.h>
 
+#include <sstream>
+
 using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
-} // namespace gtsam
+string DiscreteFactor::Translate(const Names& names, Key key, size_t index) {
+  if (names.empty()) {
+    stringstream ss;
+    ss << index;
+    return ss.str();
+  } else {
+    return names.at(key)[index];
+  }
+}
+
+}  // namespace gtsam

gtsam/discrete/DiscreteFactor.h

@@ -89,9 +89,22 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   /// @name Wrapper support
   /// @{
 
-  /// Render as markdown table.
+  /// Translation table from values to strings.
+  using Names = std::map<Key, std::vector<std::string>>;
+
+  /// Translate an integer index value for given key to a string.
+  static std::string Translate(const Names& names, Key key, size_t index);
+
+  /**
+   * @brief Render as markdown table
+   * 
+   * @param keyFormatter GTSAM-style Key formatter.
+   * @param names optional, category names corresponding to choices.
+   * @return std::string a markdown string.
+   */
   virtual std::string markdown(
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+      const Names& names = {}) const = 0;
 
   /// @}
 };

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -16,15 +16,17 @@
  *  @author Frank Dellaert
  */
 
-//#define ENABLE_TIMING
-#include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteBayesTree.h>
+#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
-#include <gtsam/inference/FactorGraph-inst.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
-#include <boost/make_shared.hpp>
+#include <gtsam/inference/FactorGraph-inst.h>
+
+using std::vector;
+using std::string;
+using std::map;
 
 namespace gtsam {
 
@@ -64,7 +66,7 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  void DiscreteFactorGraph::print(const std::string& s,
+  void DiscreteFactorGraph::print(const string& s,
       const KeyFormatter& formatter) const {
     std::cout << s << std::endl;
     std::cout << "size: " << size() << std::endl;
@@ -130,14 +132,15 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  std::string DiscreteFactorGraph::markdown(
-      const KeyFormatter& keyFormatter) const {
+  string DiscreteFactorGraph::markdown(
+      const KeyFormatter& keyFormatter,
+      const DiscreteFactor::Names& names) const {
     using std::endl;
     std::stringstream ss;
     ss << "`DiscreteFactorGraph` of size " << size() << endl << endl;
     for (size_t i = 0; i < factors_.size(); i++) {
       ss << "factor " << i << ":\n";
-      ss << factors_[i]->markdown(keyFormatter) << endl;
+      ss << factors_[i]->markdown(keyFormatter, names) << endl;
     }
     return ss.str();
   }

gtsam/discrete/DiscreteFactorGraph.h

@@ -24,7 +24,10 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/base/FastSet.h>
+
 #include <boost/make_shared.hpp>
+#include <string>
+#include <vector>
 
 namespace gtsam {
 
@@ -140,9 +143,15 @@ public EliminateableFactorGraph<DiscreteFactorGraph> {
   /// @name Wrapper support
   /// @{
 
-  /// Render as markdown table.
-  std::string markdown(
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+  /**
+   * @brief Render as markdown table
+   * 
+   * @param keyFormatter GTSAM-style Key formatter.
+   * @param names optional, a map from Key to category names.
+   * @return std::string a (potentially long) markdown string.
+   */
+  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                       const DiscreteFactor::Names& names = {}) const;
 
   /// @}
 }; // \ DiscreteFactorGraph

gtsam/discrete/DiscretePrior.h

@@ -98,7 +98,7 @@ class GTSAM_EXPORT DiscretePrior : public DiscreteConditional {
    * sample
    * @return sample from conditional
    */
-  size_t sample() const { return Base::sample({}); }
+  size_t sample() const { return Base::sample(); }
 
   /// @}
 };

gtsam/discrete/discrete.i

@@ -52,6 +52,8 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   std::vector<std::pair<DiscreteValues, double>> enumerate() const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
+  string markdown(const gtsam::KeyFormatter& keyFormatter,
+                  std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscreteConditional.h>
@@ -84,10 +86,13 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
   size_t solve(const gtsam::DiscreteValues& parentsValues) const;
   size_t sample(const gtsam::DiscreteValues& parentsValues) const;
   size_t sample(size_t value) const;
+  size_t sample() const;
   void solveInPlace(gtsam::DiscreteValues @parentsValues) const;
   void sampleInPlace(gtsam::DiscreteValues @parentsValues) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
+  string markdown(const gtsam::KeyFormatter& keyFormatter,
+                  std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscretePrior.h>
@@ -101,7 +106,6 @@ virtual class DiscretePrior : gtsam::DiscreteConditional {
   double operator()(size_t value) const;
   std::vector<double> pmf() const;
   size_t solve() const;
-  size_t sample() const;
 };
 
 #include <gtsam/discrete/DiscreteBayesNet.h>
@@ -130,6 +134,8 @@ class DiscreteBayesNet {
   gtsam::DiscreteValues sample() const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
+  string markdown(const gtsam::KeyFormatter& keyFormatter,
+                  std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscreteBayesTree.h>
@@ -164,6 +170,8 @@ class DiscreteBayesTree {
 
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
+  string markdown(const gtsam::KeyFormatter& keyFormatter,
+                  std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/inference/DotWriter.h>
@@ -211,6 +219,8 @@ class DiscreteFactorGraph {
 
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
+  string markdown(const gtsam::KeyFormatter& keyFormatter,
+                  std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 }  // namespace gtsam