gtsam::HybridFactor Class Reference

#include <HybridFactor.h>

Inheritance diagram for gtsam::HybridFactor:

Collaboration diagram for gtsam::HybridFactor:

Public Types
typedef HybridFactor	This
	This class.
typedef std::shared_ptr< HybridFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
Standard Constructors
	HybridFactor ()=default
	HybridFactor (const KeyVector &keys)
	Construct hybrid factor from continuous keys. More...
	HybridFactor (const DiscreteKeys &discreteKeys)
	Construct hybrid factor from discrete keys. More...
	HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
	Construct a new Hybrid Factor object. More...
Testable
virtual bool	equals (const HybridFactor &lf, double tol=1e-9) const
	equals
void	print (const std::string &s="HybridFactor\, const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Standard Interface
bool	isDiscrete () const
	True if this is a factor of discrete variables only.
bool	isContinuous () const
	True if this is a factor of continuous variables only.
bool	isHybrid () const
	True is this is a Discrete-Continuous factor.
size_t	nrContinuous () const
	Return the number of continuous variables in this factor.
const DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor.
const KeyVector &	continuousKeys () const
	Return only the continuous keys for this factor.
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
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
DiscreteKeys	discreteKeys_
KeyVector	continuousKeys_
	Record continuous keys for book-keeping.
KeyVector	keys_
	The keys involved in this factor.

Detailed Description

Base class for truly hybrid probabilistic factors

Examples:

• MixtureFactor
• GaussianMixtureFactor
• GaussianMixture

a mixture of Gaussian and discrete distributions over a set of variables.

• Symbolic factors, used to represent a graph structure, such as

Constructor & Destructor Documentation

HybridFactor() [1/4]

gtsam::HybridFactor::HybridFactor ( )

default

Default constructor creates empty factor

HybridFactor() [2/4]

gtsam::HybridFactor::HybridFactor ( const KeyVector &  keys )

explicit

Construct hybrid factor from continuous keys.

Parameters

keys	Vector of continuous keys.

HybridFactor() [3/4]

gtsam::HybridFactor::HybridFactor ( const DiscreteKeys &  discreteKeys )

explicit

Construct hybrid factor from discrete keys.

Parameters

keys	Vector of discrete keys.

HybridFactor() [4/4]

gtsam::HybridFactor::HybridFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys
	)

Construct a new Hybrid Factor object.

Parameters

continuousKeys	Vector of keys for continuous variables.
discreteKeys	Vector of keys for discrete variables.

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()

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

virtualinherited

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  )

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/hybrid/HybridFactor.h