Class for Hybrid Bayes tree orphan subtrees. More...

#include <HybridBayesTree.h>

Inheritance diagram for gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >:

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Collaboration diagram for gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >:

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Public Types
typedef HybridBayesTreeClique	CliqueType

typedef HybridConditional	Base

typedef HybridConditional	This
	Typedef to this class.

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class

typedef HybridFactor	BaseFactor
	Typedef to our factor base class.

typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to our conditional base class.

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

typedef std::pair< typename HybridFactor ::const_iterator, typename HybridFactor ::const_iterator >	ConstFactorRange

typedef ConstFactorRangeIterator	Frontals

typedef ConstFactorRangeIterator	Parents

Public Member Functions
	BayesTreeOrphanWrapper (const std::shared_ptr< CliqueType > &clique)
	Construct a new Bayes Tree Orphan Wrapper object. More...

void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print utility

Testable
bool	equals (const HybridFactor &other, double tol=1e-9) const override
	GTSAM-style equals.

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

Testable
bool	equals (const This &c, double tol=1e-9) const

Standard Interface
GaussianMixture::shared_ptr	asMixture () const
	Return HybridConditional as a GaussianMixture. More...

GaussianConditional::shared_ptr	asGaussian () const
	Return HybridConditional as a GaussianConditional. More...

DiscreteConditional::shared_ptr	asDiscrete () const
	Return conditional as a DiscreteConditional. More...

std::shared_ptr< Factor >	inner () const
	Get the type-erased pointer to the inner type.

double	error (const HybridValues &values) const override
	Return the error of the underlying conditional.

double	logProbability (const HybridValues &values) const override
	Return the log-probability (or density) of the underlying conditional.

double	logNormalizationConstant () const override

double	evaluate (const HybridValues &values) const override
	Return the probability (or density) of the underlying conditional.

bool	frontalsIn (const VectorValues &measurements) const
	Check if VectorValues `measurements` contains all frontal keys.

Standard Interface
bool	isDiscrete () const
	True if this is a factor of discrete variables only.

bool	isContinuous () const
	True if this is a factor of continuous variables only.

bool	isHybrid () const
	True is this is a Discrete-Continuous factor.

size_t	nrContinuous () const
	Return the number of continuous variables in this factor.

const DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor.

const KeyVector &	continuousKeys () const
	Return only the continuous keys for this factor.

Standard Interface
bool	empty () const
	Whether the factor is empty (involves zero variables).

Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Standard Interface
size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar.

double	normalizationConstant () const

Public Attributes
std::shared_ptr< CliqueType >	clique

Static Protected Member Functions
Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes
std::shared_ptr< Factor >	inner_
	Type-erased pointer to the inner type.

DiscreteKeys	discreteKeys_

KeyVector	continuousKeys_
	Record continuous keys for book-keeping.

KeyVector	keys_
	The keys involved in this factor.

size_t	nrFrontals_

Advanced Interface
size_t &	nrFrontals ()

HybridFactor ::const_iterator	beginFrontals () const

HybridFactor ::iterator	beginFrontals ()

HybridFactor ::const_iterator	endFrontals () const

HybridFactor ::iterator	endFrontals ()

HybridFactor ::const_iterator	beginParents () const

HybridFactor ::iterator	beginParents ()

HybridFactor ::const_iterator	endParents () const

HybridFactor ::iterator	endParents ()

static bool	CheckInvariants (const HybridConditional &conditional, const VALUES &x)

Detailed Description

template<>
class gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >

Class for Hybrid Bayes tree orphan subtrees.

This object stores parent keys in our base type factor so that eliminating those parent keys will pull this subtree into the elimination.

This is a template instantiation for hybrid Bayes tree cliques, storing both the regular keys and discrete keys in the HybridConditional.

Member Typedef Documentation

◆ ConstFactorRange

typedef std::pair<typename HybridFactor ::const_iterator, typename HybridFactor ::const_iterator> gtsam::Conditional< HybridFactor , HybridConditional >::ConstFactorRange

inherited

A mini implementation of an iterator range, to share const views of frontals and parents.

◆ Frontals

typedef ConstFactorRangeIterator gtsam::Conditional< HybridFactor , HybridConditional >::Frontals

inherited

View of the frontal keys (call frontals())

◆ Parents

typedef ConstFactorRangeIterator gtsam::Conditional< HybridFactor , HybridConditional >::Parents

inherited

View of the separator keys (call parents())

Constructor & Destructor Documentation

◆ BayesTreeOrphanWrapper()

gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >::BayesTreeOrphanWrapper ( const std::shared_ptr< CliqueType > & clique )

inline

Construct a new Bayes Tree Orphan Wrapper object.

Parameters

clique Bayes tree clique.

Member Function Documentation

◆ asDiscrete()

DiscreteConditional::shared_ptr gtsam::HybridConditional::asDiscrete ( ) const

inlineinherited

Return conditional as a DiscreteConditional.

Returns: nullptr if not a DiscreteConditional; DiscreteConditional::shared_ptr

◆ asGaussian()

GaussianConditional::shared_ptr gtsam::HybridConditional::asGaussian ( ) const

inlineinherited

Return HybridConditional as a GaussianConditional.

Returns: nullptr if not a GaussianConditional; GaussianConditional::shared_ptr otherwise

◆ asMixture()

GaussianMixture::shared_ptr gtsam::HybridConditional::asMixture ( ) const

inlineinherited

Return HybridConditional as a GaussianMixture.

Returns: nullptr if not a mixture; GaussianMixture::shared_ptr otherwise

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

◆ beginFrontals() [1/2]

HybridFactor ::const_iterator gtsam::Conditional< HybridFactor , HybridConditional >::beginFrontals ( ) const

inlineinherited

Iterator pointing to first frontal key.

◆ beginFrontals() [2/2]

HybridFactor ::iterator gtsam::Conditional< HybridFactor , HybridConditional >::beginFrontals ( )

inlineinherited

Mutable iterator pointing to first frontal key.

◆ beginParents() [1/2]

HybridFactor ::const_iterator gtsam::Conditional< HybridFactor , HybridConditional >::beginParents ( ) const

inlineinherited

Iterator pointing to the first parent key.

◆ beginParents() [2/2]

HybridFactor ::iterator gtsam::Conditional< HybridFactor , HybridConditional >::beginParents ( )

inlineinherited

Mutable iterator pointing to the first parent key.

◆ CheckInvariants()

bool gtsam::Conditional< HybridFactor , HybridConditional >::CheckInvariants	(	const HybridConditional< HybridFactor, HybridConditional > &	conditional,
		const VALUES &	x
	)

staticinherited

Check invariants of this conditional, given the values x. It tests:

evaluate >= 0.0
evaluate(x) == conditional(x)
exp(logProbability(x)) == evaluate(x)
logNormalizationConstant() = log(normalizationConstant())
error >= 0.0
logProbability(x) == logNormalizationConstant() - error(x)

Parameters

conditional The conditional to test, as a reference to the derived type.

Template Parameters

VALUES HybridValues, or a more narrow type like DiscreteValues.

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

◆ endFrontals() [1/2]

HybridFactor ::const_iterator gtsam::Conditional< HybridFactor , HybridConditional >::endFrontals ( ) const

inlineinherited

Iterator pointing past the last frontal key.

◆ endFrontals() [2/2]

HybridFactor ::iterator gtsam::Conditional< HybridFactor , HybridConditional >::endFrontals ( )

inlineinherited

Mutable iterator pointing past the last frontal key.

◆ endParents() [1/2]

HybridFactor ::const_iterator gtsam::Conditional< HybridFactor , HybridConditional >::endParents ( ) const

inlineinherited

Iterator pointing past the last parent key.

◆ endParents() [2/2]

HybridFactor ::iterator gtsam::Conditional< HybridFactor , HybridConditional >::endParents ( )

inlineinherited

Mutable iterator pointing past the last parent key.

◆ equals()

bool gtsam::Conditional< HybridFactor , HybridConditional >::equals	(	const This &	c,
		double	tol = `1e-9`
	)		const

inherited

check equality

◆ firstFrontalKey()

Key gtsam::Conditional< HybridFactor , HybridConditional >::firstFrontalKey ( ) const

inlineinherited

Convenience function to get the first frontal key

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotectedinherited

Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

inlinestaticprotectedinherited

Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ frontals()

Frontals gtsam::Conditional< HybridFactor , HybridConditional >::frontals ( ) const

inlineinherited

return a view of the frontal keys

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ logNormalizationConstant()

double gtsam::HybridConditional::logNormalizationConstant ( ) const

overridevirtualinherited

Return the log normalization constant. Note this is 0.0 for discrete and hybrid conditionals, but depends on the continuous parameters for Gaussian conditionals.

Reimplemented from gtsam::Conditional< HybridFactor, HybridConditional >.

◆ normalizationConstant()

double gtsam::Conditional< HybridFactor , HybridConditional >::normalizationConstant ( ) const

inherited

Non-virtual, exponentiate logNormalizationConstant.

◆ nrFrontals() [1/2]

size_t gtsam::Conditional< HybridFactor , HybridConditional >::nrFrontals ( ) const

inlineinherited

return the number of frontals

◆ nrFrontals() [2/2]

size_t& gtsam::Conditional< HybridFactor , HybridConditional >::nrFrontals ( )

inlineinherited

Mutable version of nrFrontals

◆ nrParents()

size_t gtsam::Conditional< HybridFactor , HybridConditional >::nrParents ( ) const

inlineinherited

return the number of parents

◆ parents()

Parents gtsam::Conditional< HybridFactor , HybridConditional >::parents ( ) const

inlineinherited

return a view of the parent keys

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

Member Data Documentation

◆ nrFrontals_

size_t gtsam::Conditional< HybridFactor , HybridConditional >::nrFrontals_

protectedinherited

The first nrFrontal variables are frontal and the rest are parents.

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/hybrid/HybridBayesTree.h

Public Types

Public Member Functions

Public Attributes

Static Protected Member Functions

Protected Attributes

Advanced Interface

Detailed Description

template<> class gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >

Member Typedef Documentation

◆ ConstFactorRange

◆ Frontals

◆ Parents

Constructor & Destructor Documentation

◆ BayesTreeOrphanWrapper()

Member Function Documentation

◆ asDiscrete()

◆ asGaussian()

◆ asMixture()

◆ begin() [1/2]

◆ begin() [2/2]

◆ beginFrontals() [1/2]

◆ beginFrontals() [2/2]

◆ beginParents() [1/2]

◆ beginParents() [2/2]

◆ CheckInvariants()

◆ end() [1/2]

◆ end() [2/2]

◆ endFrontals() [1/2]

◆ endFrontals() [2/2]

◆ endParents() [1/2]

◆ endParents() [2/2]

◆ equals()

◆ firstFrontalKey()

◆ FromIterators()

◆ FromKeys()

◆ frontals()

◆ keys()

◆ logNormalizationConstant()

◆ normalizationConstant()

◆ nrFrontals() [1/2]

◆ nrFrontals() [2/2]

◆ nrParents()

◆ parents()

◆ size()

Member Data Documentation

◆ nrFrontals_

template<>
class gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >