Merge pull request #271 from JuliaRobotics/24Q1/enh/manelicentropy

add entropy test and plot bugfix
JuliaRobotics · Jan 21, 2024 · c4f4169 · c4f4169
2 parents 61671c2 + 622fc6a
commit c4f4169
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Showing 4 changed files with 29 additions and 6 deletions.
diff --git a/ext/ApproxManiProdGadflyExt.jl b/ext/ApproxManiProdGadflyExt.jl
@@ -5,7 +5,7 @@ using Colors
 using Manifolds
 using ApproxManifoldProducts: BallTreeDensity, ManifoldKernelDensity
 
-import ApproxManifoldProducts: plotCircBeliefs, plotKDECircular, plotMKD
+import ApproxManifoldProducts: plotCircBeliefs, plotKDECircular, plotMKD, addtheta, difftheta
 
 
 include("CircularPlotting.jl")

diff --git a/src/ApproxManifoldProducts.jl b/src/ApproxManifoldProducts.jl
@@ -32,7 +32,7 @@ import Random: rand
 import Base: *, isapprox, convert, show, eltype
 import LinearAlgebra: rotate!, det
 import Statistics: mean, std, cov, var
-import KernelDensityEstimate: getPoints, getBW, evalAvgLogL
+import KernelDensityEstimate: getPoints, getBW, evalAvgLogL, entropy
 
 const MB = ManifoldsBase
 const CTs = CoordinateTransformations

diff --git a/src/services/ManellicTree.jl b/src/services/ManellicTree.jl
@@ -9,7 +9,14 @@
 #   end
 # end
 
-function Base.show(io::IO, mt::ManellicTree{M,D,N,KT}) where {M,D,N,KT}
+getPoints(
+  mt::ManellicTree
+) = view(mt.data, mt.permute)
+
+function Base.show(
+  io::IO, 
+  mt::ManellicTree{M,D,N,KT}
+) where {M,D,N,KT}
   printstyled(io, "ManellicTree{"; bold=true,color = :blue)
   println(io)
   printstyled(io, "  M  = ", M, color = :magenta)
@@ -277,10 +284,12 @@ end
 function evaluate(
   mt::ManellicTree{M,D,N},
   p,
+  bw_scl::Real = 1
 ) where {M,D,N}
 
   dim = manifold_dimension(mt.manifold)
   sumval = 0.0
+  # FIXME, brute force for loop
   for i in 1:N
     ekr = mt.leaf_kernels[i]
     nscl = 1/sqrt((2*pi)^dim * det(cov(ekr.p)))
@@ -295,12 +304,13 @@ end
 
 function evalAvgLogL(
   mt::ManellicTree{M,D,N},
-  epts::AbstractVector
+  epts::AbstractVector,
+  bw_scl::Real = 1
 ) where {M,D,N}
   # TODO really slow brute force evaluation
   eL = MVector{length(epts),Float64}(undef)
   for (i,p) in enumerate(epts)
-    eL[i] = evaluate(mt, p)
+    eL[i] = evaluate(mt, p, bw_scl)
   end
   # set numerical tolerance floor
   ind = findall(isapprox.(0,eL; atol=1e-14))
@@ -313,6 +323,18 @@ end
 #   return -Inf
 # end
 
+entropy(
+  mt::ManellicTree,
+  bw_scl::Real = 1,
+) = -evalAvgLogL(mt, getPoints(mt), bw_scl)
+
+leaveOneOutLogL(
+  mt::ManellicTree,
+  bw_scl::Real = 1,
+) = entropy(mt, bw_scl)
+
+
+
 
 # ## Pseudo code
 

diff --git a/test/manellic/testManellicTree.jl b/test/manellic/testManellicTree.jl
@@ -161,8 +161,9 @@ mtree = ApproxManifoldProducts.buildTree_Manellic!(M, pts; kernel_bw=bw, kernel=
 
 AMP.evaluate(mtree, SA[0.0;])
 
-
 AMP.evalAvgLogL(mtree, [randn(1) for _ in 1:5])
 
+@show AMP.entropy(mtree)
+
 ##
 end