181 lines
3.6 KiB
C++
181 lines
3.6 KiB
C++
#ifndef HORUS_BELIEFPROP_H
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#define HORUS_BELIEFPROP_H
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#include <set>
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#include <vector>
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#include <sstream>
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#include "GroundSolver.h"
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#include "FactorGraph.h"
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using namespace std;
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enum MsgSchedule {
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SEQ_FIXED,
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SEQ_RANDOM,
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PARALLEL,
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MAX_RESIDUAL
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};
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class BpLink
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{
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public:
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BpLink (FacNode* fn, VarNode* vn);
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virtual ~BpLink (void) { };
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FacNode* facNode (void) const { return fac_; }
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VarNode* varNode (void) const { return var_; }
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const Params& message (void) const { return *currMsg_; }
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Params& nextMessage (void) { return *nextMsg_; }
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double residual (void) const { return residual_; }
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void clearResidual (void);
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void updateResidual (void);
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virtual void updateMessage (void);
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string toString (void) const;
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protected:
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FacNode* fac_;
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VarNode* var_;
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Params v1_;
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Params v2_;
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Params* currMsg_;
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Params* nextMsg_;
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double residual_;
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private:
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DISALLOW_COPY_AND_ASSIGN (BpLink);
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};
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typedef vector<BpLink*> BpLinks;
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class SPNodeInfo
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{
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public:
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SPNodeInfo (void) { }
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void addBpLink (BpLink* link) { links_.push_back (link); }
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const BpLinks& getLinks (void) { return links_; }
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private:
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BpLinks links_;
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DISALLOW_COPY_AND_ASSIGN (SPNodeInfo);
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};
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class BeliefProp : public GroundSolver
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{
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public:
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BeliefProp (const FactorGraph&);
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virtual ~BeliefProp (void);
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Params solveQuery (VarIds);
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virtual void printSolverFlags (void) const;
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virtual Params getPosterioriOf (VarId);
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virtual Params getJointDistributionOf (const VarIds&);
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Params getFactorJoint (FacNode* fn, const VarIds&);
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static double accuracy (void) { return accuracy_; }
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static void setAccuracy (double acc) { accuracy_ = acc; }
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static unsigned maxIterations (void) { return maxIter_; }
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static void setMaxIterations (unsigned mi) { maxIter_ = mi; }
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static MsgSchedule msgSchedule (void) { return schedule_; }
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static void setMsgSchedule (MsgSchedule sch) { schedule_ = sch; }
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protected:
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SPNodeInfo* ninf (const VarNode* var) const;
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SPNodeInfo* ninf (const FacNode* fac) const;
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void calculateAndUpdateMessage (BpLink* link, bool calcResidual = true);
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void calculateMessage (BpLink* link, bool calcResidual = true);
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void updateMessage (BpLink* link);
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struct CompareResidual
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{
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inline bool operator() (const BpLink* link1, const BpLink* link2)
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{
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return link1->residual() > link2->residual();
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}
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};
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void runSolver (void);
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virtual void createLinks (void);
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virtual void maxResidualSchedule (void);
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virtual void calcFactorToVarMsg (BpLink*);
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virtual Params getVarToFactorMsg (const BpLink*) const;
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virtual Params getJointByConditioning (const VarIds&) const;
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BpLinks links_;
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unsigned nIters_;
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vector<SPNodeInfo*> varsI_;
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vector<SPNodeInfo*> facsI_;
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bool runned_;
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typedef multiset<BpLink*, CompareResidual> SortedOrder;
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SortedOrder sortedOrder_;
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typedef unordered_map<BpLink*, SortedOrder::iterator> BpLinkMap;
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BpLinkMap linkMap_;
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static double accuracy_;
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static unsigned maxIter_;
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static MsgSchedule schedule_;
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private:
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void initializeSolver (void);
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bool converged (void);
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virtual void printLinkInformation (void) const;
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DISALLOW_COPY_AND_ASSIGN (BeliefProp);
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};
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inline SPNodeInfo*
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BeliefProp::ninf (const VarNode* var) const
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{
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return varsI_[var->getIndex()];
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}
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inline SPNodeInfo*
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BeliefProp::ninf (const FacNode* fac) const
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{
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return facsI_[fac->getIndex()];
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}
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#endif // HORUS_BELIEFPROP_H
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