gtsam::Factor Class Reference

Inheritance diagram for gtsam::Factor:

Public Types
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
virtual	~Factor ()=default
	Default destructor.
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
virtual double	error (const HybridValues &c) const
size_t	size () const
Testable
virtual void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print
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
Advanced Interface
KeyVector &	keys ()
iterator	begin ()
iterator	end ()

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Standard Constructors
	Factor ()
template<typename CONTAINER >
	Factor (const CONTAINER &keys)
template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Constructor & Destructor Documentation

Factor() [1/3]

gtsam::Factor::Factor ( )

inlineprotected

Default constructor for I/O

Factor() [2/3]

template<typename CONTAINER >

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

inlineexplicitprotected

Construct factor 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.

Factor() [3/3]

template<typename ITERATOR >

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

inlineprotected

Construct factor from iterator keys. This constructor may be used internally from derived factor constructors, although our code currently does not use this.

Member Function Documentation

begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inline

Iterator at beginning of involved variable keys

begin() [2/2]

iterator gtsam::Factor::begin ( )

inline

Iterator at beginning of involved variable keys

end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inline

Iterator at end of involved variable keys

end() [2/2]

iterator gtsam::Factor::end ( )

inline

Iterator at end of involved variable keys

error()

virtual double gtsam::Factor::error ( const HybridValues &  c ) const

virtual

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

Reimplemented in gtsam::DecisionTreeFactor, gtsam::GaussianMixture, gtsam::HybridConditional, gtsam::MixtureFactor, gtsam::GaussianMixtureFactor, gtsam::SymbolicFactor, gtsam::NonlinearFactor, gtsam::DiscreteFactor, and gtsam::GaussianFactor.

FromIterators()

template<typename ITERATOR >

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

inlinestaticprotected

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 )

inlinestaticprotected

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 ( )

inline

Returns

keys involved in this factor

size()

size_t gtsam::Factor::size ( ) const

inline

Returns

the number of variables involved in this factor

---

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

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