Finish release 4.2a1

CMakeLists.txt

@@ -11,7 +11,7 @@ endif()
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 2)
 set (GTSAM_VERSION_PATCH 0)
-set (GTSAM_PRERELEASE_VERSION "a0")
+set (GTSAM_PRERELEASE_VERSION "a1")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (${GTSAM_VERSION_PATCH} EQUAL 0)

gtsam/discrete/DecisionTree-inl.h

@@ -261,9 +261,8 @@ namespace gtsam {
 
         // Check if zero
         if (!showZero) {
-          const Leaf* leaf = dynamic_cast<const Leaf*> (branch.get());
-          std::string value = valueFormatter(leaf->constant());
-          if (leaf && value.compare("0")) continue;
+          const Leaf* leaf = dynamic_cast<const Leaf*>(branch.get());
+          if (leaf && valueFormatter(leaf->constant()).compare("0")) continue;
         }
 
         os << "\"" << this->id() << "\" -> \"" << branch->id() << "\"";

gtsam/discrete/DiscreteConditional.cpp

@@ -307,7 +307,7 @@ std::string DiscreteConditional::markdown(const KeyFormatter& keyFormatter,
   if (nrParents() == 0) {
    // We have no parents, call factor method.
     ss << ")*:\n" << std::endl;
-    ss << DecisionTreeFactor::markdown(keyFormatter);
+    ss << DecisionTreeFactor::markdown(keyFormatter, names);
     return ss.str();
   }
 

gtsam/discrete/discrete.i

@@ -48,7 +48,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      bool showZero = false) const;
+      bool showZero = true) const;
   std::vector<std::pair<DiscreteValues, double>> enumerate() const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;

gtsam/discrete/tests/testDecisionTreeFactor.cpp

@@ -100,6 +100,20 @@ TEST(DecisionTreeFactor, enumerate) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(DiscreteFactorGraph, DotWithNames) {
+  DiscreteKey A(12, 3), B(5, 2);
+  DecisionTreeFactor f(A & B, "1 2  3 4  5 6");
+  auto formatter = [](Key key) { return key == 12 ? "A" : "B"; };
+
+  for (bool showZero:{true, false}) {  
+    string actual = f.dot(formatter, showZero);
+    // pretty weak test, as ids are pointers and not stable across platforms.
+    string expected = "digraph G {";
+    EXPECT(actual.substr(0, 11) == expected);
+  }
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected.
 TEST(DecisionTreeFactor, markdown) {

gtsam/discrete/tests/testDiscreteConditional.cpp

@@ -135,6 +135,24 @@ TEST(DiscreteConditional, markdown_prior) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+// Check markdown representation looks as expected, no parents + names.
+TEST(DiscreteConditional, markdown_prior_names) {
+  Symbol x1('x', 1);
+  DiscreteKey A(x1, 3);
+  DiscreteConditional conditional(A % "1/2/2");
+  string expected =
+      " *P(x1)*:\n\n"
+      "|x1|value|\n"
+      "|:-:|:-:|\n"
+      "|A0|0.2|\n"
+      "|A1|0.4|\n"
+      "|A2|0.4|\n";
+  DecisionTreeFactor::Names names{{x1, {"A0", "A1", "A2"}}};
+  string actual = conditional.markdown(DefaultKeyFormatter, names);
+  EXPECT(actual == expected);
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected, multivalued.
 TEST(DiscreteConditional, markdown_multivalued) {
@@ -155,7 +173,7 @@ TEST(DiscreteConditional, markdown_multivalued) {
 }
 
 /* ************************************************************************* */
-// Check markdown representation looks as expected, two parents.
+// Check markdown representation looks as expected, two parents + names.
 TEST(DiscreteConditional, markdown) {
   DiscreteKey A(2, 2), B(1, 2), C(0, 3);
   DiscreteConditional conditional(A, {B, C}, "0/1 1/3  1/1 3/1  0/1 1/0");

gtsam/discrete/tests/testDiscreteFactorGraph.cpp

@@ -382,6 +382,31 @@ TEST(DiscreteFactorGraph, Dot) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(DiscreteFactorGraph, DotWithNames) {
+  // Create Factor graph
+  DiscreteFactorGraph graph;
+  DiscreteKey C(0, 2), A(1, 2), B(2, 2);
+  graph.add(C & A, "0.2 0.8 0.3 0.7");
+  graph.add(C & B, "0.1 0.9 0.4 0.6");
+
+  vector<string> names{"C", "A", "B"};
+  auto formatter = [names](Key key) { return names[key]; };
+  string actual = graph.dot(formatter);
+  string expected =
+      "graph {\n"
+      "  size=\"5,5\";\n"
+      "\n"
+      "  var0[label=\"C\"];\n"
+      "  var1[label=\"A\"];\n"
+      "  var2[label=\"B\"];\n"
+      "\n"
+      "  var0--var1;\n"
+      "  var0--var2;\n"
+      "}\n";
+  EXPECT(actual == expected);
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected.
 TEST(DiscreteFactorGraph, markdown) {