gtsam::DiscreteFactor Class Reference

#include <DiscreteFactor.h>

Inheritance diagram for gtsam::DiscreteFactor:

Collaboration diagram for gtsam::DiscreteFactor:

Public Types
typedef DiscreteFactor	This
	This class.
typedef std::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to 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.

Public Member Functions
Standard Constructors
	DiscreteFactor ()
template<typename CONTAINER >
	DiscreteFactor (const CONTAINER &keys)
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
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 ()
Testable
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality

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.

Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.
virtual std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as markdown table. More...
virtual std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as html table. More...

Detailed Description

Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor

DecisionTreeFactor, which represent a discrete distribution over a set of variables.

• Hybrid factors, such as

Constructor & Destructor Documentation

DiscreteFactor() [1/2]

gtsam::DiscreteFactor::DiscreteFactor ( )

inline

Default constructor creates empty factor

DiscreteFactor() [2/2]

template<typename CONTAINER >

gtsam::DiscreteFactor::DiscreteFactor ( const CONTAINER &  keys )

inline

Construct from container of keys. This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

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

overridevirtual

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.

html()

virtual std::string gtsam::DiscreteFactor::html ( const KeyFormatter &  keyFormatter = DefaultKeyFormatter, const Names &  names = {}  ) const

pure virtual

Render as html table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns

std::string a html string.

Implemented in gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::Constraint.

keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns

keys involved in this factor

markdown()

virtual std::string gtsam::DiscreteFactor::markdown ( const KeyFormatter &  keyFormatter = DefaultKeyFormatter, const Names &  names = {}  ) const

pure virtual

Render as markdown table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns

std::string a markdown string.

Implemented in gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::Constraint.

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/discrete/DiscreteFactor.h