void LiftedAlgsConvertor::doWMPTPExactZ(LvrParams* params)
{
vector<vector<int> > evidenceIntRep;
lvrMln = new LvrMLN();
bool mlncontainsGrndClause=false;
convertInputMLNToLifted(mln_,domain_,mlncontainsGrndClause);
//process the evidence
addEvidence(evidenceIntRep);
//cout<<"Converted MLN"<<endl;
//for(int i=0;i<lvrMln->clauses.size();i++)
//lvrMln->clauses[i]->print();
//cout<<endl;
vector<vector<int> > queriesIntRep(queries_.size());
vector<string> queryStrings;
for(int i=0;i<queries_.size();i++)
{
for(int j=0;j<queries_[i]->getIntArrRep()->size();j++)
{
queriesIntRep[i].push_back((*queries_[i]->getIntArrRep())[j]);
}
string s=queries_[i]->getPredString(domain_);
queryStrings.push_back(s);
}
//LFileDump::dumpQueriesToFile(queriesIntRep);
if(queriesIntRep.size() > 0)
{
//initialize the query updater
LvrQueryUpdater::createInstance(queriesIntRep,queryStrings,
params->resultFile,&evidenceIntRep);
}
liftedAlgsHandler = new LiftedAlgsHandler(*lvrMln);
liftedAlgsHandler->WMPTPZExact(params);
}
void HxIteratePointMatchingUntilConvergence::addEvidenceForNodes(
const McDArray<int>& nodesToAssign) {
HxSpatialGraph* graph = hxconnection_cast<HxSpatialGraph>(portData);
const EdgeVertexAttribute* evidenceAttrib =
dynamic_cast<const EdgeVertexAttribute*>(graph->findAttribute(
HxSpatialGraph::VERTEX, "UserDefinedMatchings"));
McDArray<int> pairNodes(nodesToAssign.size());
pairNodes.fill(-1);
for (int j = 0; j < nodesToAssign.size(); j++) {
int nodeJLabel = evidenceAttrib->getIntDataAtIdx(nodesToAssign[j]);
if (nodeJLabel == 0) {
pairNodes[j] = -1;
continue;
}
for (int i = 0; i < graph->getNumVertices(); i++) {
if (i != nodesToAssign[j]) {
int nodeILabel = evidenceAttrib->getIntDataAtIdx(i);
if (nodeILabel == nodeJLabel) {
pairNodes[j] = i;
}
}
}
}
for (int j = 0; j < nodesToAssign.size(); j++) {
addEvidence(nodesToAssign[j], pairNodes[j]);
}
}
void LiftedAlgsConvertor::doWMPTPApproxZ(LvrParams* params)
{
vector<vector<int> > evidenceIntRep;
lvrMln = new LvrMLN();
bool mlncontainsGrndClause=false;
convertInputMLNToLifted(mln_,domain_,mlncontainsGrndClause);
//process the evidence
addEvidence(evidenceIntRep);
//cout<<"Converted MLN"<<endl;
//for(int i=0;i<lvrMln->clauses.size();i++)
//lvrMln->clauses[i]->print();
//cout<<endl;
liftedAlgsHandler = new LiftedAlgsHandler(*lvrMln);
liftedAlgsHandler->WMPTPZApprox(params);
}
void generateEvidence() {
// Create world evidence message
wire_msgs::WorldEvidence world_evidence;
// Set header
world_evidence.header.stamp = ros::Time::now();
world_evidence.header.frame_id = "/map";
// Add evidence
addEvidence(world_evidence, 2, 2.2, 3, "mug", "red");
// Publish results
world_evidence_publisher_.publish(world_evidence);
ROS_INFO("Published world evidence with size %d", world_evidence.object_evidence.size());
}
void LiftedAlgsConvertor::doConversion(vector<vector<int> >& queriesIntRep, vector<vector<int> > & evidenceIntRep,
vector<string>& queryStrings,bool removeSelfJoins)
{
lvrMln = new LvrMLN();
bool mlncontainsGrndClause=false;
convertInputMLNToLifted(mln_,domain_,mlncontainsGrndClause);
//process the evidence
addEvidence(evidenceIntRep);
//LFileDump::dumpEvidenceToFile(evidenceIntRep);
if(evidenceIntRep.size() > 0)
{
cout<<"Normalizing evidence..."<<endl;
lvrMln->preprocessEvidence(evidenceIntRep);
//for(int i=0;i<lvrMln->clauses.size();i++)
//lvrMln->clauses[i]->print();
//cout<<endl;
}
else if(mlncontainsGrndClause)
{
//the input mln has a "+" term, needs to be normalized
LNormalizer ln(*lvrMln);
ln.normalizeClauses(lvrMln->clauses);
for(unsigned int i=0;i<lvrMln->clauses.size();i++)
{
for(unsigned int j=0;j<lvrMln->clauses[i]->atoms.size();j++)
{
lvrMln->clauses[i]->atoms[j]->symbol->parentId =
lvrMln->clauses[i]->atoms[j]->symbol->id;
}
}
}
//cout<<"Converted MLN"<<endl;
//for(int i=0;i<lvrMln->clauses.size();i++)
//lvrMln->clauses[i]->print();
//cout<<endl;
queriesIntRep.resize(queries_.size());
for(int i=0;i<queries_.size();i++)
{
for(int j=0;j<queries_[i]->getIntArrRep()->size();j++)
{
queriesIntRep[i].push_back((*queries_[i]->getIntArrRep())[j]);
}
string s=queries_[i]->getPredString(domain_);
queryStrings.push_back(s);
}
//LFileDump::dumpQueriesToFile(queriesIntRep);
if(removeSelfJoins)
{
bool isSelfJoined = false;
for(int i=0;i<lvrMln->clauses.size();i++)
{
if(lvrMln->clauses[i]->isSelfJoined())
{
isSelfJoined = true;
break;
}
}
if(isSelfJoined)
{
cout<<"Preprocessing normalized MLN..."<<endl;
processSelfJoins();
}
}
liftedAlgsHandler = new LiftedAlgsHandler(*lvrMln);
//LFileDump::dumpMLNToFile(lvrMln);
cout<<"done writing dump files ("<<MLNDUMPFILENAME<<","<<SYMBOLSDUMPFILENAME<<","<<
QUERIESDUMPFILENAME<<","<<EVIDENCEDUMPFILENAME<<")"<<endl;
//for(int i=0;i<lvrMln->clauses.size();i++)
//lvrMln->clauses[i]->print();
}
