gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL > Class Template Reference

Classes
struct	ConstFactorRangeIterator

Public Types
typedef std::pair< typename FACTOR::const_iterator, typename FACTOR::const_iterator >	ConstFactorRange
typedef ConstFactorRangeIterator	Frontals
typedef ConstFactorRangeIterator	Parents

Public Member Functions
Testable
void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const
bool	equals (const This &c, double tol=1e-9) const
Standard Interface
virtual	~Conditional ()
size_t	nrFrontals () const
size_t	nrParents () const
Key	firstFrontalKey () const
Frontals	frontals () const
Parents	parents () const
virtual double	logProbability (const HybridValues &c) const
virtual double	evaluate (const HybridValues &c) const
double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar.
virtual double	logNormalizationConstant () const
double	normalizationConstant () const

Protected Member Functions
Standard Constructors
	Conditional ()
	Conditional (size_t nrFrontals)

Protected Attributes
size_t	nrFrontals_

Advanced Interface
FACTOR::const_iterator	beginFrontals () const
FACTOR::const_iterator	endFrontals () const
FACTOR::const_iterator	beginParents () const
FACTOR::const_iterator	endParents () const
size_t &	nrFrontals ()
FACTOR::iterator	beginFrontals ()
FACTOR::iterator	endFrontals ()
FACTOR::iterator	beginParents ()
FACTOR::iterator	endParents ()
template<class VALUES >
static bool	CheckInvariants (const DERIVEDCONDITIONAL &conditional, const VALUES &x)

Member Typedef Documentation

ConstFactorRange

template<class FACTOR, class DERIVEDCONDITIONAL>

typedef std::pair<typename FACTOR::const_iterator, typename FACTOR::const_iterator> gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::ConstFactorRange

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

Frontals

template<class FACTOR, class DERIVEDCONDITIONAL>

typedef ConstFactorRangeIterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Frontals

View of the frontal keys (call frontals())

Parents

template<class FACTOR, class DERIVEDCONDITIONAL>

typedef ConstFactorRangeIterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Parents

View of the separator keys (call parents())

Constructor & Destructor Documentation

Conditional() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Conditional ( )

inlineprotected

Empty Constructor to make serialization possible

Conditional() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Conditional ( size_t  nrFrontals )

inlineprotected

Constructor

Member Function Documentation

beginFrontals() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginFrontals ( ) const

inline

Iterator pointing to first frontal key.

beginFrontals() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginFrontals ( )

inline

Mutable iterator pointing to first frontal key.

beginParents() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginParents ( ) const

inline

Iterator pointing to the first parent key.

beginParents() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginParents ( )

inline

Mutable iterator pointing to the first parent key.

CheckInvariants()

template<class FACTOR , class DERIVEDCONDITIONAL>

template<class VALUES >

bool gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::CheckInvariants ( const DERIVEDCONDITIONAL &  conditional, const VALUES &  x  )

static

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.

endFrontals() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endFrontals ( ) const

inline

Iterator pointing past the last frontal key.

endFrontals() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endFrontals ( )

inline

Mutable iterator pointing past the last frontal key.

endParents() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endParents ( ) const

inline

Iterator pointing past the last parent key.

endParents() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endParents ( )

inline

Mutable iterator pointing past the last parent key.

equals()

template<class FACTOR , class DERIVEDCONDITIONAL >

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

check equality

evaluate()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::evaluate ( const HybridValues &  c ) const

virtual

All conditional types need to implement an evaluate function, that yields a true probability. The default implementation just exponentiates logProbability.

Reimplemented in gtsam::GaussianConditional, gtsam::DiscreteConditional, gtsam::GaussianMixture, gtsam::HybridConditional, and gtsam::SymbolicConditional.

firstFrontalKey()

template<class FACTOR, class DERIVEDCONDITIONAL>

Key gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::firstFrontalKey ( ) const

inline

Convenience function to get the first frontal key

frontals()

template<class FACTOR, class DERIVEDCONDITIONAL>

Frontals gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::frontals ( ) const

inline

return a view of the frontal keys

logNormalizationConstant()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::logNormalizationConstant ( ) const

virtual

All conditional types need to implement a log normalization constant to make it such that error>=0.

Reimplemented in gtsam::DiscreteConditional, gtsam::HybridConditional, gtsam::GaussianMixture, and gtsam::GaussianConditional.

logProbability()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::logProbability ( const HybridValues &  c ) const

virtual

All conditional types need to implement a logProbability function, for which exp(logProbability(x)) = evaluate(x).

Reimplemented in gtsam::GaussianConditional, gtsam::DiscreteConditional, gtsam::GaussianMixture, gtsam::HybridConditional, and gtsam::SymbolicConditional.

normalizationConstant()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::normalizationConstant

(

)

const

Non-virtual, exponentiate logNormalizationConstant.

nrFrontals() [1/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals ( ) const

inline

return the number of frontals

nrFrontals() [2/2]

template<class FACTOR, class DERIVEDCONDITIONAL>

size_t& gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals ( )

inline

Mutable version of nrFrontals

nrParents()

template<class FACTOR, class DERIVEDCONDITIONAL>

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrParents ( ) const

inline

return the number of parents

parents()

template<class FACTOR, class DERIVEDCONDITIONAL>

Parents gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::parents ( ) const

inline

return a view of the parent keys

print()

template<class FACTOR , class DERIVEDCONDITIONAL >

void gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::print	(	const std::string &	s = "Conditional< FACTOR, DERIVEDCONDITIONAL >",
		const KeyFormatter &	formatter = DefaultKeyFormatter
	)		const

print with optional formatter

Member Data Documentation

nrFrontals_

template<class FACTOR, class DERIVEDCONDITIONAL>

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals_

protected

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

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/Conditional.h
• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/Conditional-inst.h