GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
|
#include <DiscreteBayesNet.h>
Public Types | |
typedef BayesNet< DiscreteConditional > | Base |
typedef DiscreteBayesNet | This |
typedef DiscreteConditional | ConditionalType |
typedef std::shared_ptr< This > | shared_ptr |
typedef std::shared_ptr< ConditionalType > | sharedConditional |
typedef DiscreteConditional | FactorType |
factor type | |
typedef std::shared_ptr< DiscreteConditional > | sharedFactor |
Shared pointer to a factor. | |
typedef sharedFactor | value_type |
typedef FastVector< sharedFactor >::iterator | iterator |
typedef FastVector< sharedFactor >::const_iterator | const_iterator |
Public Member Functions | |
Standard Constructors | |
DiscreteBayesNet () | |
Construct empty Bayes net. | |
template<typename ITERATOR > | |
DiscreteBayesNet (ITERATOR firstConditional, ITERATOR lastConditional) | |
template<class CONTAINER > | |
DiscreteBayesNet (const CONTAINER &conditionals) | |
template<class DERIVEDCONDITIONAL > | |
DiscreteBayesNet (const FactorGraph< DERIVEDCONDITIONAL > &graph) | |
Testable | |
bool | equals (const This &bn, double tol=1e-9) const |
Standard Interface | |
void | add (const DiscreteKey &key, const std::string &spec) |
template<typename... Args> | |
void | add (Args &&... args) |
double | evaluate (const DiscreteValues &values) const |
double | operator() (const DiscreteValues &values) const |
double | logProbability (const DiscreteValues &values) const |
DiscreteValues | sample () const |
do ancestral sampling More... | |
DiscreteValues | sample (DiscreteValues given) const |
do ancestral sampling, given certain variables. More... | |
Wrapper support | |
std::string | markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const |
Render as markdown tables. | |
std::string | html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const |
Render as html tables. | |
Testable | |
void | print (const std::string &s="BayesNet", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
Graph Display | |
void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
Output to graphviz format, stream version. | |
std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
Output to graphviz format string. | |
void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
output to file with graphviz format. | |
HybridValues methods | |
double | logProbability (const HybridValues &x) const |
double | evaluate (const HybridValues &c) const |
Adding Single Factors | |
void | reserve (size_t size) |
IsDerived< DERIVEDFACTOR > | push_back (std::shared_ptr< DERIVEDFACTOR > factor) |
Add a factor directly using a shared_ptr. | |
IsDerived< DERIVEDFACTOR > | push_back (const DERIVEDFACTOR &factor) |
IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
Emplace a shared pointer to factor of given type. | |
IsDerived< DERIVEDFACTOR > | add (std::shared_ptr< DERIVEDFACTOR > factor) |
add is a synonym for push_back. | |
Adding via iterators | |
HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
Push back many factors with an iterator (factors are copied) | |
Adding via container | |
HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container) |
HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
Push back non-pointer objects in a container (factors are copied). | |
void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
Specialized versions | |
std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type | push_back (const BayesTree< CLIQUE > &bayesTree) |
FactorIndices | add_factors (const CONTAINER &factors, bool useEmptySlots=false) |
Testable | |
bool | equals (const This &fg, double tol=1e-9) const |
Check equality up to tolerance. | |
Standard Interface | |
size_t | size () const |
bool | empty () const |
const sharedFactor | at (size_t i) const |
sharedFactor & | at (size_t i) |
const sharedFactor | operator[] (size_t i) const |
sharedFactor & | operator[] (size_t i) |
const_iterator | begin () const |
const_iterator | end () const |
sharedFactor | front () const |
sharedFactor | back () const |
double | error (const HybridValues &values) const |
Modifying Factor Graphs (imperative, discouraged) | |
iterator | begin () |
iterator | end () |
virtual void | resize (size_t size) |
void | remove (size_t i) |
void | replace (size_t index, sharedFactor factor) |
iterator | erase (iterator item) |
iterator | erase (iterator first, iterator last) |
Advanced Interface | |
size_t | nrFactors () const |
KeySet | keys () const |
KeyVector | keyVector () const |
bool | exists (size_t idx) const |
Protected Member Functions | |
bool | isEqual (const FactorGraph &other) const |
Check exact equality of the factor pointers. Useful for derived ==. | |
Protected Attributes | |
FastVector< sharedFactor > | factors_ |
A Bayes net made from discrete conditional distributions.
|
inline |
Construct from iterator over conditionals
|
inlineexplicit |
Construct from container of factors (shared_ptr or plain objects)
|
inline |
Implicit copy/downcast constructor to override explicit template container constructor
|
inline |
Add a DiscreteDistribution using a table or a string
|
inline |
Add a DiscreteCondtional
|
inlineinherited |
Add a factor or container of factors, including STL collections, BayesTrees, etc.
|
inherited |
Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
|
inlineinherited |
Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
|
inlineinherited |
Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
|
inlineinherited |
Get the last factor
|
inlineinherited |
Iterator to beginning of factors.
|
inlineinherited |
non-const STL-style begin()
|
inlineinherited |
Check if the graph is empty (null factors set by remove() will cause this to return false).
|
inlineinherited |
Iterator to end of factors.
|
inlineinherited |
non-const STL-style end()
bool gtsam::DiscreteBayesNet::equals | ( | const This & | bn, |
double | tol = 1e-9 |
||
) | const |
Check equality
|
inlineinherited |
Erase factor and rearrange other factors to take up the empty space
|
inlineinherited |
Erase factors and rearrange other factors to take up the empty space
|
inherited |
Add error for all factors.
|
inlineinherited |
MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer
|
inlineinherited |
Get the first factor
|
inherited |
Potentially slow function to return all keys involved, sorted, as a set
|
inherited |
Potentially slow function to return all keys involved, sorted, as a vector
|
inherited |
return the number of non-null factors
|
inlineinherited |
Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
|
inlineinherited |
Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
|
overridevirtualinherited |
print out graph
Reimplemented from gtsam::FactorGraph< DiscreteConditional >.
|
inlineinherited |
Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).
|
inlineinherited |
Push back many factors with an iterator over shared_ptr (factors are not copied)
|
inlineinherited |
Push back many factors as shared_ptr's in a container (factors are not copied)
|
inlineinherited |
Push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived classes in favor of a type-specialized version that calls this templated function.
|
inlineinherited |
delete factor without re-arranging indexes by inserting a nullptr pointer
|
inlineinherited |
replace a factor by index
|
inlineinherited |
Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).
|
inlinevirtualinherited |
Directly resize the number of factors in the graph. If the new size is less than the original, factors at the end will be removed. If the new size is larger than the original, null factors will be appended.
DiscreteValues gtsam::DiscreteBayesNet::sample | ( | ) | const |
do ancestral sampling
Assumes the Bayes net is reverse topologically sorted, i.e. last conditional will be sampled first. If the Bayes net resulted from eliminating a factor graph, this is true for the elimination ordering.
DiscreteValues gtsam::DiscreteBayesNet::sample | ( | DiscreteValues | given | ) | const |
do ancestral sampling, given certain variables.
Assumes the Bayes net is reverse topologically sorted and that the Bayes net does not contain any conditionals for the given values.
|
inlineinherited |
return the number of factors (including any null factors set by remove() ).
|
protectedinherited |
concept check, makes sure FACTOR defines print and equals Collection of factors