gtsam::Constraint Class Reference

#include <Constraint.h>

Inheritance diagram for gtsam::Constraint:

Collaboration diagram for gtsam::Constraint:

Public Types
typedef std::shared_ptr< Constraint >	shared_ptr
typedef DiscreteFactor	This
	This class.
typedef Factor	Base
	Our base class.
using	Values = DiscreteValues
	backwards compatibility
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.
Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.

Public Member Functions
Standard Constructors
	Constraint ()
	Default constructor for I/O.
	~Constraint () override
	Virtual destructor.
Standard Interface
virtual bool	ensureArcConsistency (Key j, Domains *domains) const =0
virtual shared_ptr	partiallyApply (const DiscreteValues &) const =0
	Partially apply known values.
virtual shared_ptr	partiallyApply (const Domains &) const =0
	Partially apply known values, domain version.
Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as markdown table.
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as html table.
Testable
virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const =0
	equals
void	print (const std::string &s="DiscreteFactor\, const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
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
Standard Interface
virtual double	operator() (const DiscreteValues &) const =0
	Find value for given assignment of values to variables.
double	error (const DiscreteValues &values) const
	Error is just -log(value)
double	error (const HybridValues &c) const override
virtual DecisionTreeFactor	operator* (const DecisionTreeFactor &) const =0
	Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.
virtual DecisionTreeFactor	toDecisionTreeFactor () const =0
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 ()

Protected Member Functions
	Constraint (Key j)
	Construct unary constraint factor.
	Constraint (Key j1, Key j2)
	Construct binary constraint factor.
	Constraint (const KeyVector &js)
	Construct n-way constraint factor.
template<class KeyIterator >
	Constraint (KeyIterator beginKey, KeyIterator endKey)
	construct from container

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
KeyVector	keys_
	The keys involved in this factor.

Detailed Description

Base class for constraint factors Derived classes include SingleValue, BinaryAllDiff, and AllDiff.

Member Function Documentation

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

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

error()

double gtsam::DiscreteFactor::error ( const HybridValues &  c ) const

overridevirtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

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.

keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns

keys involved in this factor

size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns

the number of variables involved in this factor

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/discrete/Constraint.h