1 | /*! |
---|
2 | \file |
---|
3 | \brief Bayesian Models (bm) that use Bayes rule to learn from observations |
---|
4 | \author Vaclav Smidl. |
---|
5 | |
---|
6 | ----------------------------------- |
---|
7 | BDM++ - C++ library for Bayesian Decision Making under Uncertainty |
---|
8 | |
---|
9 | Using IT++ for numerical operations |
---|
10 | ----------------------------------- |
---|
11 | */ |
---|
12 | |
---|
13 | /*! |
---|
14 | \defgroup core Core BDM classes |
---|
15 | @{ |
---|
16 | */ |
---|
17 | #ifndef BM_H |
---|
18 | #define BM_H |
---|
19 | |
---|
20 | |
---|
21 | #include "../itpp_ext.h" |
---|
22 | //#include <std> |
---|
23 | |
---|
24 | namespace bdm { |
---|
25 | using namespace itpp; |
---|
26 | using std::string; |
---|
27 | |
---|
28 | //! Root class of BDM objects |
---|
29 | class bdmroot { |
---|
30 | virtual void print() {} |
---|
31 | }; |
---|
32 | |
---|
33 | //! Structure of RV (used internally), i.e. expanded RVs |
---|
34 | class str { |
---|
35 | public: |
---|
36 | //! vector id ids (non-unique!) |
---|
37 | ivec ids; |
---|
38 | //! vector of times |
---|
39 | ivec times; |
---|
40 | //!Default constructor |
---|
41 | str ( ivec ids0, ivec times0 ) :ids ( ids0 ),times ( times0 ) { |
---|
42 | it_assert_debug ( times0.length() ==ids0.length(),"Incompatible input" ); |
---|
43 | }; |
---|
44 | }; |
---|
45 | |
---|
46 | /*! |
---|
47 | * \brief Class representing variables, most often random variables |
---|
48 | |
---|
49 | * More?... |
---|
50 | */ |
---|
51 | |
---|
52 | class RV :public bdmroot { |
---|
53 | protected: |
---|
54 | //! size = sum of sizes |
---|
55 | int tsize; |
---|
56 | //! len = number of individual rvs |
---|
57 | int len; |
---|
58 | //! Vector of unique IDs |
---|
59 | ivec ids; |
---|
60 | //! Vector of sizes |
---|
61 | ivec sizes; |
---|
62 | //! Vector of shifts from current time |
---|
63 | ivec times; |
---|
64 | //! Array of names |
---|
65 | Array<std::string> names; |
---|
66 | |
---|
67 | private: |
---|
68 | //! auxiliary function used in constructor |
---|
69 | void init ( ivec in_ids, Array<std::string> in_names, ivec in_sizes, ivec in_times ); |
---|
70 | public: |
---|
71 | //! Full constructor |
---|
72 | RV ( Array<std::string> in_names, ivec in_sizes, ivec in_times ); |
---|
73 | //! Constructor with times=0 |
---|
74 | RV ( Array<std::string> in_names, ivec in_sizes ); |
---|
75 | //! Constructor with sizes=1, times=0 |
---|
76 | RV ( Array<std::string> in_names ); |
---|
77 | //! Constructor of empty RV |
---|
78 | RV (); |
---|
79 | //! Constructor of a single RV with given id |
---|
80 | RV (string name, int id, int sz=1, int tm=0); |
---|
81 | |
---|
82 | //! Printing output e.g. for debugging. |
---|
83 | friend std::ostream &operator<< ( std::ostream &os, const RV &rv ); |
---|
84 | |
---|
85 | //! Return number of scalars in the RV. |
---|
86 | int count() const {return tsize;} ; |
---|
87 | //! Return length (number of entries) of the RV. |
---|
88 | int length() const {return len;} ; |
---|
89 | |
---|
90 | //TODO why not inline and later?? |
---|
91 | |
---|
92 | //! Find indexes of self in another rv, \return ivec of the same size as self. |
---|
93 | ivec findself ( const RV &rv2 ) const; |
---|
94 | //! Compare if \c rv2 is identical to this \c RV |
---|
95 | bool equal ( const RV &rv2 ) const; |
---|
96 | //! Add (concat) another variable to the current one, \return true if all rv2 were added, false if rv2 is in conflict |
---|
97 | bool add ( const RV &rv2 ); |
---|
98 | //! Subtract another variable from the current one |
---|
99 | RV subt ( const RV &rv2 ) const; |
---|
100 | //! Select only variables at indeces ind |
---|
101 | RV subselect ( const ivec &ind ) const; |
---|
102 | //! Select only variables at indeces ind |
---|
103 | RV operator() ( const ivec &ind ) const; |
---|
104 | //! Shift \c time shifted by delta. |
---|
105 | void t ( int delta ); |
---|
106 | //! generate \c str from rv, by expanding sizes |
---|
107 | str tostr() const; |
---|
108 | //! when this rv is a part of bigger rv, this function returns indeces of self in the data vector of the bigger crv. |
---|
109 | //! Then, data can be copied via: data_of_this = cdata(ind); |
---|
110 | ivec dataind ( const RV &crv ) const; |
---|
111 | //! generate mutual indeces when copying data betwenn self and crv. |
---|
112 | //! Data are copied via: data_of_this(selfi) = data_of_rv2(rv2i) |
---|
113 | void dataind ( const RV &rv2, ivec &selfi, ivec &rv2i ) const; |
---|
114 | //! Minimum time-offset |
---|
115 | int mint () const {return min ( times );}; |
---|
116 | |
---|
117 | //!access function |
---|
118 | Array<std::string>& _names() {return names;}; |
---|
119 | |
---|
120 | //!access function |
---|
121 | int id ( int at ) {return ids ( at );}; |
---|
122 | //!access function |
---|
123 | int size ( int at ) {return sizes ( at );}; |
---|
124 | //!access function |
---|
125 | int time ( int at ) {return times ( at );}; |
---|
126 | //!access function |
---|
127 | std::string name ( int at ) {return names ( at );}; |
---|
128 | |
---|
129 | //!access function |
---|
130 | void set_id ( int at, int id0 ) {ids ( at ) =id0;}; |
---|
131 | //!access function |
---|
132 | void set_size ( int at, int size0 ) {sizes ( at ) =size0; tsize=sum ( sizes );}; |
---|
133 | //!access function |
---|
134 | void set_time ( int at, int time0 ) {times ( at ) =time0;}; |
---|
135 | |
---|
136 | //!Assign unused ids to this rv |
---|
137 | void newids(); |
---|
138 | }; |
---|
139 | |
---|
140 | //! Concat two random variables |
---|
141 | RV concat ( const RV &rv1, const RV &rv2 ); |
---|
142 | |
---|
143 | //!Default empty RV that can be used as default argument |
---|
144 | extern RV RV0; |
---|
145 | |
---|
146 | //! Class representing function \f$f(x)\f$ of variable \f$x\f$ represented by \c rv |
---|
147 | |
---|
148 | class fnc :public bdmroot { |
---|
149 | protected: |
---|
150 | //! Length of the output vector |
---|
151 | int dimy; |
---|
152 | public: |
---|
153 | //!default constructor |
---|
154 | fnc ( int dy ) :dimy ( dy ) {}; |
---|
155 | //! function evaluates numerical value of \f$f(x)\f$ at \f$x=\f$ \c cond |
---|
156 | virtual vec eval ( const vec &cond ) { |
---|
157 | return vec ( 0 ); |
---|
158 | }; |
---|
159 | |
---|
160 | //! function substitutes given value into an appropriate position |
---|
161 | virtual void condition ( const vec &val ) {}; |
---|
162 | |
---|
163 | //! access function |
---|
164 | int _dimy() const{return dimy;} |
---|
165 | |
---|
166 | //! Destructor for future use; |
---|
167 | virtual ~fnc() {}; |
---|
168 | }; |
---|
169 | |
---|
170 | class mpdf; |
---|
171 | |
---|
172 | //! Probability density function with numerical statistics, e.g. posterior density. |
---|
173 | |
---|
174 | class epdf :public bdmroot { |
---|
175 | protected: |
---|
176 | //! Identified of the random variable |
---|
177 | RV rv; |
---|
178 | public: |
---|
179 | //!default constructor |
---|
180 | epdf() :rv ( ) {}; |
---|
181 | |
---|
182 | //!default constructor |
---|
183 | epdf ( const RV &rv0 ) :rv ( rv0 ) {}; |
---|
184 | |
---|
185 | // //! Returns the required moment of the epdf |
---|
186 | // virtual vec moment ( const int order = 1 ); |
---|
187 | |
---|
188 | //! Returns a sample, \f$x\f$ from density \f$epdf(rv)\f$ |
---|
189 | virtual vec sample () const =0; |
---|
190 | //! Returns N samples from density \f$epdf(rv)\f$ |
---|
191 | virtual mat sample_m ( int N ) const; |
---|
192 | |
---|
193 | //! Compute log-probability of argument \c val |
---|
194 | virtual double evallog ( const vec &val ) const =0; |
---|
195 | |
---|
196 | //! Compute log-probability of multiple values argument \c val |
---|
197 | virtual vec evallog_m ( const mat &Val ) const { |
---|
198 | vec x ( Val.cols() ); |
---|
199 | for ( int i=0;i<Val.cols();i++ ) {x ( i ) =evallog ( Val.get_col ( i ) ) ;} |
---|
200 | return x; |
---|
201 | } |
---|
202 | //! Return conditional density on the given RV, the remaining rvs will be in conditioning |
---|
203 | virtual mpdf* condition ( const RV &rv ) const {it_warning ( "Not implemented" ); return NULL;} |
---|
204 | //! Return marginal density on the given RV, the remainig rvs are intergrated out |
---|
205 | virtual epdf* marginal ( const RV &rv ) const {it_warning ( "Not implemented" ); return NULL;} |
---|
206 | |
---|
207 | //! return expected value |
---|
208 | virtual vec mean() const =0; |
---|
209 | |
---|
210 | //! return expected variance (not covariance!) |
---|
211 | virtual vec variance() const = 0; |
---|
212 | |
---|
213 | //! Destructor for future use; |
---|
214 | virtual ~epdf() {}; |
---|
215 | //! access function, possibly dangerous! |
---|
216 | const RV& _rv() const {return rv;} |
---|
217 | //! modifier function - useful when copying epdfs |
---|
218 | void _renewrv ( const RV &in_rv ) {rv=in_rv;} |
---|
219 | //! |
---|
220 | }; |
---|
221 | |
---|
222 | |
---|
223 | //! Conditional probability density, e.g. modeling some dependencies. |
---|
224 | //TODO Samplecond can be generalized |
---|
225 | |
---|
226 | class mpdf : public bdmroot { |
---|
227 | protected: |
---|
228 | //! modeled random variable |
---|
229 | RV rv; |
---|
230 | //! random variable in condition |
---|
231 | RV rvc; |
---|
232 | //! pointer to internal epdf |
---|
233 | epdf* ep; |
---|
234 | public: |
---|
235 | |
---|
236 | //! Returns a sample from the density conditioned on \c cond, \f$x \sim epdf(rv|cond)\f$. \param cond is numeric value of \c rv |
---|
237 | virtual vec samplecond ( const vec &cond) { |
---|
238 | this->condition ( cond ); |
---|
239 | vec temp= ep->sample(); |
---|
240 | return temp; |
---|
241 | }; |
---|
242 | //! Returns \param N samples from the density conditioned on \c cond, \f$x \sim epdf(rv|cond)\f$. \param cond is numeric value of \c rv \param ll is a return value of log-likelihood of the sample. |
---|
243 | virtual mat samplecond_m ( const vec &cond, vec &ll, int N ) { |
---|
244 | this->condition ( cond ); |
---|
245 | mat temp ( rv.count(),N ); vec smp ( rv.count() ); |
---|
246 | for ( int i=0;i<N;i++ ) {smp=ep->sample() ;temp.set_col ( i, smp );ll ( i ) =ep->evallog ( smp );} |
---|
247 | return temp; |
---|
248 | }; |
---|
249 | //! Update \c ep so that it represents this mpdf conditioned on \c rvc = cond |
---|
250 | virtual void condition ( const vec &cond ) {it_error ( "Not implemented" );}; |
---|
251 | |
---|
252 | //! Shortcut for conditioning and evaluation of the internal epdf. In some cases, this operation can be implemented efficiently. |
---|
253 | virtual double evallogcond ( const vec &dt, const vec &cond ) { |
---|
254 | double tmp; this->condition ( cond );tmp = ep->evallog ( dt ); it_assert_debug ( std::isfinite ( tmp ),"Infinite value" ); return tmp; |
---|
255 | }; |
---|
256 | |
---|
257 | //! Matrix version of evallogcond |
---|
258 | virtual vec evallogcond_m ( const mat &Dt, const vec &cond ) {this->condition ( cond );return ep->evallog_m ( Dt );}; |
---|
259 | |
---|
260 | //! Destructor for future use; |
---|
261 | virtual ~mpdf() {}; |
---|
262 | |
---|
263 | //! Default constructor |
---|
264 | mpdf ( const RV &rv0, const RV &rvc0 ) :rv ( rv0 ),rvc ( rvc0 ) {}; |
---|
265 | //! access function |
---|
266 | RV _rvc() const {return rvc;} |
---|
267 | //! access function |
---|
268 | RV _rv() const {return rv;} |
---|
269 | //!access function |
---|
270 | epdf& _epdf() {return *ep;} |
---|
271 | //!access function |
---|
272 | epdf* _e() {return ep;} |
---|
273 | }; |
---|
274 | |
---|
275 | /*! \brief DataLink is a connection between two data vectors Up and Down |
---|
276 | |
---|
277 | Up can be longer than Down. Down must be fully present in Up (TODO optional) |
---|
278 | See chart: |
---|
279 | \dot |
---|
280 | digraph datalink { |
---|
281 | node [shape=record]; |
---|
282 | subgraph cluster0 { |
---|
283 | label = "Up"; |
---|
284 | up [label="<1>|<2>|<3>|<4>|<5>"]; |
---|
285 | color = "white" |
---|
286 | } |
---|
287 | subgraph cluster1{ |
---|
288 | label = "Down"; |
---|
289 | labelloc = b; |
---|
290 | down [label="<1>|<2>|<3>"]; |
---|
291 | color = "white" |
---|
292 | } |
---|
293 | up:1 -> down:1; |
---|
294 | up:3 -> down:2; |
---|
295 | up:5 -> down:3; |
---|
296 | } |
---|
297 | \enddot |
---|
298 | |
---|
299 | */ |
---|
300 | class datalink_e2e { |
---|
301 | protected: |
---|
302 | //! Remember how long val should be |
---|
303 | int valsize; |
---|
304 | //! Remember how long val of "Up" should be |
---|
305 | int valupsize; |
---|
306 | //! val-to-val link, indeces of the upper val |
---|
307 | ivec v2v_up; |
---|
308 | public: |
---|
309 | //! Constructor |
---|
310 | datalink_e2e ( const RV &rv, const RV &rv_up ) : |
---|
311 | valsize ( rv.count() ), valupsize ( rv_up.count() ), v2v_up ( rv.dataind ( rv_up ) ) { |
---|
312 | it_assert_debug ( v2v_up.length() ==valsize,"rv is not fully in rv_up" ); |
---|
313 | } |
---|
314 | //! Get val for myself from val of "Up" |
---|
315 | vec get_val ( const vec &val_up ) {it_assert_debug ( valupsize==val_up.length(),"Wrong val_up" ); return get_vec ( val_up,v2v_up );} |
---|
316 | //! Fill val of "Up" by my pieces |
---|
317 | void fill_val ( vec &val_up, const vec &val ) { |
---|
318 | it_assert_debug ( valsize==val.length(),"Wrong val" ); |
---|
319 | it_assert_debug ( valupsize==val_up.length(),"Wrong val_up" ); |
---|
320 | set_subvector ( val_up, v2v_up, val ); |
---|
321 | } |
---|
322 | }; |
---|
323 | |
---|
324 | //! data link between |
---|
325 | class datalink_m2e: public datalink_e2e { |
---|
326 | protected: |
---|
327 | //! Remember how long cond should be |
---|
328 | int condsize; |
---|
329 | //!upper_val-to-local_cond link, indeces of the upper val |
---|
330 | ivec v2c_up; |
---|
331 | //!upper_val-to-local_cond link, ideces of the local cond |
---|
332 | ivec v2c_lo; |
---|
333 | |
---|
334 | public: |
---|
335 | //! Constructor |
---|
336 | datalink_m2e ( const RV &rv, const RV &rvc, const RV &rv_up ) : |
---|
337 | datalink_e2e ( rv,rv_up ), condsize ( rvc.count() ) { |
---|
338 | //establish v2c connection |
---|
339 | rvc.dataind ( rv_up, v2c_lo, v2c_up ); |
---|
340 | } |
---|
341 | //!Construct condition |
---|
342 | vec get_cond ( const vec &val_up ) { |
---|
343 | vec tmp ( condsize ); |
---|
344 | set_subvector ( tmp,v2c_lo,val_up ( v2c_up ) ); |
---|
345 | return tmp; |
---|
346 | } |
---|
347 | void fill_val_cond ( vec &val_up, const vec &val, const vec &cond ) { |
---|
348 | it_assert_debug ( valsize==val.length(),"Wrong val" ); |
---|
349 | it_assert_debug ( valupsize==val_up.length(),"Wrong val_up" ); |
---|
350 | set_subvector ( val_up, v2v_up, val ); |
---|
351 | set_subvector ( val_up, v2c_up, cond ); |
---|
352 | } |
---|
353 | }; |
---|
354 | //!DataLink is a connection between mpdf and its superordinate (Up) |
---|
355 | //! This class links |
---|
356 | class datalink_m2m: public datalink_m2e { |
---|
357 | protected: |
---|
358 | //!cond-to-cond link, indeces of the upper cond |
---|
359 | ivec c2c_up; |
---|
360 | //!cond-to-cond link, indeces of the local cond |
---|
361 | ivec c2c_lo; |
---|
362 | public: |
---|
363 | //! Constructor |
---|
364 | datalink_m2m ( const RV &rv, const RV &rvc, const RV &rv_up, const RV &rvc_up ) : |
---|
365 | datalink_m2e ( rv, rvc, rv_up ) { |
---|
366 | //establish c2c connection |
---|
367 | rvc.dataind ( rvc_up, c2c_lo, c2c_up ); |
---|
368 | it_assert_debug ( c2c_lo.length() +v2c_lo.length() ==condsize, "cond is not fully given" ); |
---|
369 | } |
---|
370 | //! Get cond for myself from val and cond of "Up" |
---|
371 | vec get_cond ( const vec &val_up, const vec &cond_up ) { |
---|
372 | vec tmp ( condsize ); |
---|
373 | set_subvector ( tmp,v2c_lo,val_up ( v2c_up ) ); |
---|
374 | set_subvector ( tmp,c2c_lo,cond_up ( c2c_up ) ); |
---|
375 | return tmp; |
---|
376 | } |
---|
377 | //! Fill |
---|
378 | |
---|
379 | }; |
---|
380 | |
---|
381 | /*! |
---|
382 | @brief Class for storing results (and semi-results) of an experiment |
---|
383 | |
---|
384 | This class abstracts logging of results from implementation. This class replaces direct logging of results (e.g. to files or to global variables) by calling methods of a logger. Specializations of this abstract class for specific storage method are designed. |
---|
385 | */ |
---|
386 | class logger : public bdmroot { |
---|
387 | protected: |
---|
388 | //! RVs of all logged variables. |
---|
389 | Array<RV> entries; |
---|
390 | //! Names of logged quantities, e.g. names of algorithm variants |
---|
391 | Array<string> names; |
---|
392 | public: |
---|
393 | //!Default constructor |
---|
394 | logger ( ) : entries ( 0 ),names ( 0 ) {} |
---|
395 | |
---|
396 | //! returns an identifier which will be later needed for calling the log() function |
---|
397 | virtual int add ( const RV &rv, string name="" ) { |
---|
398 | int id=entries.length(); |
---|
399 | names=concat ( names, name ); // diff |
---|
400 | entries.set_length ( id+1,true ); |
---|
401 | entries ( id ) = rv; |
---|
402 | return id; // identifier of the last entry |
---|
403 | } |
---|
404 | |
---|
405 | //! log this vector |
---|
406 | virtual void logit ( int id, const vec &v ) =0; |
---|
407 | |
---|
408 | //! Shifts storage position for another time step. |
---|
409 | virtual void step() =0; |
---|
410 | |
---|
411 | //! Finalize storing information |
---|
412 | virtual void finalize() {}; |
---|
413 | |
---|
414 | //! Initialize the storage |
---|
415 | virtual void init() {}; |
---|
416 | |
---|
417 | //! for future use |
---|
418 | virtual ~logger() {}; |
---|
419 | }; |
---|
420 | |
---|
421 | /*! \brief Unconditional mpdf, allows using epdf in the role of mpdf. |
---|
422 | |
---|
423 | */ |
---|
424 | class mepdf : public mpdf { |
---|
425 | public: |
---|
426 | //!Default constructor |
---|
427 | mepdf ( const epdf* em ) :mpdf ( em->_rv(),RV() ) {ep=const_cast<epdf*> ( em );}; |
---|
428 | void condition ( const vec &cond ) {} |
---|
429 | }; |
---|
430 | |
---|
431 | //!\brief Abstract composition of pdfs, will be used for specific classes |
---|
432 | //!this abstract class is common to epdf and mpdf |
---|
433 | class compositepdf { |
---|
434 | protected: |
---|
435 | //!Number of mpdfs in the composite |
---|
436 | int n; |
---|
437 | //! Elements of composition |
---|
438 | Array<mpdf*> mpdfs; |
---|
439 | public: |
---|
440 | compositepdf ( Array<mpdf*> A0 ) : n ( A0.length() ), mpdfs ( A0 ) {}; |
---|
441 | //! find common rv, flag \param checkoverlap modifies whether overlaps are acceptable |
---|
442 | RV getrv ( bool checkoverlap=false ); |
---|
443 | //! common rvc of all mpdfs is written to rvc |
---|
444 | void setrvc ( const RV &rv, RV &rvc ); |
---|
445 | }; |
---|
446 | |
---|
447 | /*! \brief Abstract class for discrete-time sources of data. |
---|
448 | |
---|
449 | The class abstracts operations of: (i) data aquisition, (ii) data-preprocessing, (iii) scaling of data, and (iv) data resampling from the task of estimation and control. |
---|
450 | Moreover, for controlled systems, it is able to receive the desired control action and perform it in the next step. (Or as soon as possible). |
---|
451 | |
---|
452 | */ |
---|
453 | |
---|
454 | class DS : public bdmroot { |
---|
455 | protected: |
---|
456 | //!Observed variables, returned by \c getdata(). |
---|
457 | RV Drv; |
---|
458 | //!Action variables, accepted by \c write(). |
---|
459 | RV Urv; // |
---|
460 | //! Remember its own index in Logger L |
---|
461 | int L_dt, L_ut; |
---|
462 | public: |
---|
463 | DS() :Drv ( RV0 ),Urv ( RV0 ) {}; |
---|
464 | DS ( const RV &Drv0, const RV &Urv0 ) :Drv ( Drv0 ),Urv ( Urv0 ) {}; |
---|
465 | //! Returns full vector of observed data=[output, input] |
---|
466 | virtual void getdata ( vec &dt ) {it_error ( "abstract class" );}; |
---|
467 | //! Returns data records at indeces. |
---|
468 | virtual void getdata ( vec &dt, const ivec &indeces ) {it_error ( "abstract class" );}; |
---|
469 | //! Accepts action variable and schedule it for application. |
---|
470 | virtual void write ( vec &ut ) {it_error ( "abstract class" );}; |
---|
471 | //! Accepts action variables at specific indeces |
---|
472 | virtual void write ( vec &ut, const ivec &indeces ) {it_error ( "abstract class" );}; |
---|
473 | |
---|
474 | //! Moves from \f$t\f$ to \f$t+1\f$, i.e. perfroms the actions and reads response of the system. |
---|
475 | virtual void step() =0; |
---|
476 | |
---|
477 | //! Register DS for logging into logger L |
---|
478 | virtual void log_add ( logger &L ) { |
---|
479 | L_dt=L.add ( Drv,"" ); |
---|
480 | L_ut=L.add ( Urv,"" ); |
---|
481 | } |
---|
482 | //! Register DS for logging into logger L |
---|
483 | virtual void logit ( logger &L ) { |
---|
484 | vec tmp(Drv.count()+Urv.count()); |
---|
485 | getdata(tmp); |
---|
486 | // d is first in getdata |
---|
487 | L.logit ( L_dt,tmp.left ( Drv.count() ) ); |
---|
488 | // u follows after d in getdata |
---|
489 | L.logit ( L_ut,tmp.mid ( Drv.count(), Urv.count() ) ); |
---|
490 | } |
---|
491 | //!access function |
---|
492 | virtual RV _drv() const {return concat(Drv,Urv);} |
---|
493 | //!access function |
---|
494 | const RV& _urv() const {return Urv;} |
---|
495 | }; |
---|
496 | |
---|
497 | /*! \brief Bayesian Model of a system, i.e. all uncertainty is modeled by probabilities. |
---|
498 | |
---|
499 | */ |
---|
500 | |
---|
501 | class BM :public bdmroot { |
---|
502 | protected: |
---|
503 | //!Random variable of the posterior |
---|
504 | RV rv; |
---|
505 | //! Random variable of the data (optional) |
---|
506 | RV drv; |
---|
507 | //!Logarithm of marginalized data likelihood. |
---|
508 | double ll; |
---|
509 | //! If true, the filter will compute likelihood of the data record and store it in \c ll . Set to false if you want to save computational time. |
---|
510 | bool evalll; |
---|
511 | public: |
---|
512 | |
---|
513 | //!Default constructor |
---|
514 | BM ( const RV &rv0, double ll0=0,bool evalll0=true ) :rv ( rv0 ), ll ( ll0 ),evalll ( evalll0 ) {//Fixme: test rv |
---|
515 | }; |
---|
516 | //!Copy constructor |
---|
517 | BM ( const BM &B ) : rv ( B.rv ), ll ( B.ll ), evalll ( B.evalll ) {} |
---|
518 | |
---|
519 | /*! \brief Incremental Bayes rule |
---|
520 | @param dt vector of input data |
---|
521 | */ |
---|
522 | virtual void bayes ( const vec &dt ) = 0; |
---|
523 | //! Batch Bayes rule (columns of Dt are observations) |
---|
524 | virtual void bayesB ( const mat &Dt ); |
---|
525 | //! Returns a reference to the epdf representing posterior density on parameters. |
---|
526 | virtual const epdf& _epdf() const =0; |
---|
527 | |
---|
528 | //! Returns a pointer to the epdf representing posterior density on parameters. Use with care! |
---|
529 | virtual const epdf* _e() const =0; |
---|
530 | |
---|
531 | //! Evaluates predictive log-likelihood of the given data record |
---|
532 | //! I.e. marginal likelihood of the data with the posterior integrated out. |
---|
533 | virtual double logpred ( const vec &dt ) const{it_error ( "Not implemented" );return 0.0;} |
---|
534 | //! Matrix version of logpred |
---|
535 | vec logpred_m ( const mat &dt ) const{vec tmp ( dt.cols() );for ( int i=0;i<dt.cols();i++ ) {tmp ( i ) =logpred ( dt.get_col ( i ) );}return tmp;} |
---|
536 | |
---|
537 | //!Constructs a predictive density (marginal density on data) |
---|
538 | virtual epdf* predictor ( const RV &rv ) const {it_error ( "Not implemented" );return NULL;}; |
---|
539 | |
---|
540 | //! Destructor for future use; |
---|
541 | virtual ~BM() {}; |
---|
542 | //!access function |
---|
543 | const RV& _rv() const {return rv;} |
---|
544 | //!access function |
---|
545 | const RV& _drv() const {return drv;} |
---|
546 | //!set drv |
---|
547 | void set_drv(const RV &rv){drv=rv;} |
---|
548 | //!access function |
---|
549 | double _ll() const {return ll;} |
---|
550 | //!access function |
---|
551 | void set_evalll ( bool evl0 ) {evalll=evl0;} |
---|
552 | |
---|
553 | //! Copy function required in vectors, Arrays of BM etc. Have to be DELETED manually! |
---|
554 | //! Prototype: BM* _copy_(){BM Tmp*=new Tmp(this*); return Tmp; } |
---|
555 | virtual BM* _copy_ ( bool changerv=false ) {it_error ( "function _copy_ not implemented for this BM" ); return NULL;}; |
---|
556 | }; |
---|
557 | |
---|
558 | /*! |
---|
559 | \brief Conditional Bayesian Filter |
---|
560 | |
---|
561 | Evaluates conditional filtering density \f$f(rv|rvc,data)\f$ for a given \c rvc which is specified in each step by calling function \c condition. |
---|
562 | |
---|
563 | This is an interface class used to assure that certain BM has operation \c condition . |
---|
564 | |
---|
565 | */ |
---|
566 | |
---|
567 | class BMcond :public bdmroot { |
---|
568 | protected: |
---|
569 | //! Identificator of the conditioning variable |
---|
570 | RV rvc; |
---|
571 | public: |
---|
572 | //! Substitute \c val for \c rvc. |
---|
573 | virtual void condition ( const vec &val ) =0; |
---|
574 | //! Default constructor |
---|
575 | BMcond ( RV &rv0 ) :rvc ( rv0 ) {}; |
---|
576 | //! Destructor for future use |
---|
577 | virtual ~BMcond() {}; |
---|
578 | //! access function |
---|
579 | const RV& _rvc() const {return rvc;} |
---|
580 | }; |
---|
581 | |
---|
582 | }; //namespace |
---|
583 | /*! @} */ |
---|
584 | #endif // BM_H |
---|