separate drake from beacon_potential_python (#280)

experimental/beacon_sim/BUILD

@@ -393,6 +393,7 @@ cc_library(
     ":robot",
     ":robot_belief",
     ":make_belief_updater",
+    ":beacon_potential",
     "//common:check",
     "//common/math:combinations",
     "//common/math:multivariate_normal_cdf",
@@ -418,7 +419,8 @@ pybind_extension(
   name = "belief_road_map_planner_python",
   srcs = ["belief_road_map_planner_python.cc"],
   data = [
-    ":robot_belief_python.so"
+    ":robot_belief_python.so",
+    ":beacon_potential_python.so",
   ],
   deps = [
     ":belief_road_map_planner",
@@ -525,6 +527,14 @@ cc_library(
   ],
 )
 
+pybind_extension(
+  name = "beacon_potential_python",
+  srcs = ["beacon_potential_python.cc"],
+  deps = [
+    ":beacon_potential",
+  ]
+)
+
 cc_test(
   name = "conditioned_potential_test",
   srcs = ["conditioned_potential_test.cc"],
@@ -641,10 +651,12 @@ pybind_extension(
   name = "correlated_beacons_python",
   srcs = ["correlated_beacons_python.cc"],
   visibility=["//common/python:__subpackages__"],
+  data = [
+    ":beacon_potential_python.so",
+  ],
   deps = [
     ":correlated_beacons",
     ":beacon_potential",
-    ":correlated_beacon_potential",
   ]
 )
 
@@ -701,7 +713,7 @@ cc_library(
   deps = [
     "@eigen",
     ":ekf_slam",
-    ":correlated_beacons",
+    ":beacon_potential",
     ":robot_belief",
     "//common:check",
     "//common/liegroups:se2",
@@ -861,6 +873,7 @@ cc_binary(
   name = "run_experiment",
   srcs = ["run_experiment.cc"],
   data = [":experiment_configs"],
+  linkopts = ["-ltbb"],
   deps = [
     "@cxxopts",
     "//common:check",

experimental/beacon_sim/beacon_potential_python.cc

@@ -0,0 +1,53 @@
+
+#include "experimental/beacon_sim/beacon_potential.hh"
+#include "experimental/beacon_sim/beacon_potential_to_proto.hh"
+#include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
+
+namespace py = pybind11;
+
+namespace robot::experimental::beacon_sim {
+PYBIND11_MODULE(beacon_potential_python, m) {
+    py::class_<LogMarginal>(m, "LogMarginal")
+        .def_readwrite("present_beacons", &LogMarginal::present_beacons)
+        .def_readwrite("log_marginal", &LogMarginal::log_marginal)
+        .def("__repr__", [](const LogMarginal &self) {
+            std::ostringstream oss;
+            oss << "<LogMarginal present_beacons=[";
+            for (int i = 0; i < static_cast<int>(self.present_beacons.size()); i++) {
+                oss << self.present_beacons.at(i);
+                if (i < static_cast<int>(self.present_beacons.size()) - 1) {
+                    oss << ", ";
+                }
+            }
+            oss << "] log_marginal=" << self.log_marginal << ">";
+            return oss.str();
+        });
+
+    py::class_<BeaconPotential>(m, "BeaconPotential")
+        .def(py::init<>())
+        .def_static("from_proto_string",
+                    [](const std::string &proto_string) -> BeaconPotential {
+                        proto::BeaconPotential proto;
+                        proto.ParseFromString(proto_string);
+                        return unpack_from(proto);
+                    })
+        .def("log_prob",
+             py::overload_cast<const std::unordered_map<int, bool> &, bool>(
+                 &BeaconPotential::log_prob, py::const_),
+             py::arg("assignment"), py::arg("allow_partial_assignment") = false)
+        .def("log_prob",
+             py::overload_cast<const std::vector<int> &>(&BeaconPotential::log_prob, py::const_))
+        .def("__mul__",
+             py::overload_cast<const BeaconPotential &, const BeaconPotential &>(operator*))
+        .def("log_marginals", &BeaconPotential::log_marginals)
+        .def("members", &BeaconPotential::members)
+        .def("to_proto_string", [](const BeaconPotential &self) {
+            proto::BeaconPotential proto;
+            pack_into(self, &proto);
+            std::string out;
+            proto.SerializeToString(&out);
+            return py::bytes(out);
+        });
+}
+}  // namespace robot::experimental::beacon_sim

experimental/beacon_sim/belief_road_map_planner.cc

@@ -24,7 +24,6 @@
 #include "common/math/multivariate_normal_cdf.hh"
 #include "common/math/redheffer_star.hh"
 #include "common/time/robot_time.hh"
-#include "experimental/beacon_sim/correlated_beacons.hh"
 #include "experimental/beacon_sim/ekf_slam.hh"
 #include "experimental/beacon_sim/generate_observations.hh"
 #include "experimental/beacon_sim/make_belief_updater.hh"

experimental/beacon_sim/belief_road_map_planner.hh

@@ -5,7 +5,7 @@
 
 #include "common/liegroups/se2.hh"
 #include "common/time/robot_time.hh"
-#include "experimental/beacon_sim/correlated_beacons.hh"
+#include "experimental/beacon_sim/beacon_potential.hh"
 #include "experimental/beacon_sim/ekf_slam.hh"
 #include "experimental/beacon_sim/robot_belief.hh"
 #include "planning/belief_road_map.hh"

experimental/beacon_sim/belief_road_map_planner_python_test.py

@@ -3,7 +3,7 @@
 import experimental.beacon_sim.belief_road_map_planner_python as brm
 import experimental.beacon_sim.test_helpers_python as helpers
 import experimental.beacon_sim.ekf_slam_python as esp
-import experimental.beacon_sim.correlated_beacons_python as cbp
+import experimental.beacon_sim.beacon_potential_python as bpp 
 
 
 class BeliefRoadMapPlannerPythonTest(unittest.TestCase):
@@ -74,7 +74,7 @@ def test_optimistic_belief_road_map_planner(self):
             ekf_config, P_LONE_BEACON
         )
 
-        potential = cbp.BeaconPotential()
+        potential = bpp.BeaconPotential()
 
         # Action
         plan = brm.compute_belief_road_map_plan(road_map, ekf, potential, brm_options)

experimental/beacon_sim/correlated_beacons_python.cc

@@ -2,10 +2,7 @@
 
 #include <sstream>
 
-#include "experimental/beacon_sim/beacon_potential_to_proto.hh"
-#include "experimental/beacon_sim/correlated_beacon_potential.hh"
 #include "experimental/beacon_sim/correlated_beacons.hh"
-#include "experimental/beacon_sim/precision_matrix_potential.hh"
 #include "pybind11/eigen.h"
 #include "pybind11/pybind11.h"
 #include "pybind11/stl.h"
@@ -15,6 +12,7 @@ using namespace pybind11::literals;
 
 namespace robot::experimental::beacon_sim {
 PYBIND11_MODULE(correlated_beacons_python, m) {
+    py::module_::import("experimental.beacon_sim.beacon_potential_python");
     m.doc() = "Correlated Beacons";
 
     py::class_<BeaconClique>(m, "BeaconClique")
@@ -24,51 +22,6 @@ PYBIND11_MODULE(correlated_beacons_python, m) {
         .def_readwrite("p_no_beacons", &BeaconClique::p_no_beacons)
         .def_readwrite("members", &BeaconClique::members);
 
-    py::class_<LogMarginal>(m, "LogMarginal")
-        .def_readwrite("present_beacons", &LogMarginal::present_beacons)
-        .def_readwrite("log_marginal", &LogMarginal::log_marginal)
-        .def("__repr__", [](const LogMarginal &self) {
-            std::ostringstream oss;
-            oss << "<LogMarginal present_beacons=[";
-            for (int i = 0; i < static_cast<int>(self.present_beacons.size()); i++) {
-                oss << self.present_beacons.at(i);
-                if (i < static_cast<int>(self.present_beacons.size()) - 1) {
-                    oss << ", ";
-                }
-            }
-            oss << "] log_marginal=" << self.log_marginal << ">";
-            return oss.str();
-        });
-
-    py::class_<BeaconPotential>(m, "BeaconPotential")
-        .def(py::init<>())
-        .def_static(
-            "correlated_beacon_potential",
-            [](const double p_present, const double p_beacon_given_present,
-               const std::vector<int> &members) -> BeaconPotential {
-                return CorrelatedBeaconPotential{.p_present = p_present,
-                                                 .p_beacon_given_present = p_beacon_given_present,
-                                                 .members = members};
-            },
-            "p_present"_a, "p_beacon_given_present"_a, "members"_a)
-        .def("log_prob",
-             py::overload_cast<const std::unordered_map<int, bool> &, bool>(
-                 &BeaconPotential::log_prob, py::const_),
-             py::arg("assignment"), py::arg("allow_partial_assignment") = false)
-        .def("log_prob",
-             py::overload_cast<const std::vector<int> &>(&BeaconPotential::log_prob, py::const_))
-        .def("__mul__",
-             py::overload_cast<const BeaconPotential &, const BeaconPotential &>(operator*))
-        .def("log_marginals", &BeaconPotential::log_marginals)
-        .def("members", &BeaconPotential::members)
-        .def("to_proto_string", [](const BeaconPotential &self) {
-            proto::BeaconPotential proto;
-            pack_into(self, &proto);
-            std::string out;
-            proto.SerializeToString(&out);
-            return py::bytes(out);
-        });
-
     m.def("create_correlated_beacons", create_correlated_beacons);
 }
 }  // namespace robot::experimental::beacon_sim

experimental/beacon_sim/make_belief_updater.hh

@@ -8,7 +8,7 @@
 #include "Eigen/Core"
 #include "common/liegroups/se2.hh"
 #include "common/math/redheffer_star.hh"
-#include "experimental/beacon_sim/correlated_beacons.hh"
+#include "experimental/beacon_sim/beacon_potential.hh"
 #include "experimental/beacon_sim/ekf_slam.hh"
 #include "experimental/beacon_sim/robot_belief.hh"
 #include "planning/belief_road_map.hh"