#include <HybridFactorGraph.h>

Inheritance diagram for gtsam::HybridFactorGraph:

Collaboration diagram for gtsam::HybridFactorGraph:

Public Types
using	Base = FactorGraph< Factor >

using	This = HybridFactorGraph
	this class

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This

using	Values = gtsam::Values
	backwards compatibility

using	Indices = KeyVector

typedef Factor	FactorType
	factor type

typedef std::shared_ptr< Factor >	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
Constructors
map from keys to values
	HybridFactorGraph ()=default
	Default constructor.

template<class DERIVEDFACTOR >
	HybridFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

Extra methods to inspect discrete/continuous keys.
std::set< DiscreteKey >	discreteKeys () const
	Get all the discrete keys in the factor graph.

KeySet	discreteKeySet () const
	Get all the discrete keys in the factor graph, as a set.

std::unordered_map< Key, DiscreteKey >	discreteKeyMap () const
	Get a map from Key to corresponding DiscreteKey.

const KeySet	continuousKeySet () const
	Get all the continuous keys in the factor graph.

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
virtual void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print out graph to std::cout, with optional key formatter.

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)

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.

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_

Detailed Description

Hybrid Factor Graph Factor graph with utilities for hybrid factors.

Constructor & Destructor Documentation

◆ HybridFactorGraph()

template<class DERIVEDFACTOR >

gtsam::HybridFactorGraph::HybridFactorGraph ( const FactorGraph< DERIVEDFACTOR > & graph )

inline

Implicit copy/downcast constructor to override explicit template container constructor. In BayesTree this is used for: cachedSeparatorMarginal_.reset(*separatorMarginal)

Member Function Documentation

◆ add()

void gtsam::FactorGraph< Factor >::add ( const FACTOR_OR_CONTAINER & factorOrContainer )

inlineinherited

Add a factor or container of factors, including STL collections, BayesTrees, etc.

◆ add_factors()

FactorIndices gtsam::FactorGraph< Factor >::add_factors	(	const CONTAINER &	factors,
		bool	useEmptySlots = `false`
	)

inherited

Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.

◆ at() [1/2]

const sharedFactor gtsam::FactorGraph< Factor >::at ( size_t i ) const

inlineinherited

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

◆ at() [2/2]

sharedFactor& gtsam::FactorGraph< Factor >::at ( size_t i )

inlineinherited

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

◆ back()

sharedFactor gtsam::FactorGraph< Factor >::back ( ) const

inlineinherited

Get the last factor

◆ begin() [1/2]

const_iterator gtsam::FactorGraph< Factor >::begin ( ) const

inlineinherited

Iterator to beginning of factors.

◆ begin() [2/2]

iterator gtsam::FactorGraph< Factor >::begin ( )

inlineinherited

non-const STL-style begin()

◆ empty()

bool gtsam::FactorGraph< Factor >::empty ( ) const

inlineinherited

Check if the graph is empty (null factors set by remove() will cause this to return false).

◆ end() [1/2]

const_iterator gtsam::FactorGraph< Factor >::end ( ) const

inlineinherited

Iterator to end of factors.

◆ end() [2/2]

iterator gtsam::FactorGraph< Factor >::end ( )

inlineinherited

non-const STL-style end()

◆ erase() [1/2]

iterator gtsam::FactorGraph< Factor >::erase ( iterator item )

inlineinherited

Erase factor and rearrange other factors to take up the empty space

◆ erase() [2/2]

iterator gtsam::FactorGraph< Factor >::erase	(	iterator	first,
		iterator	last
	)

inlineinherited

Erase factors and rearrange other factors to take up the empty space

◆ error()

double gtsam::FactorGraph< Factor >::error ( const HybridValues & values ) const

inherited

Add error for all factors.

◆ exists()

bool gtsam::FactorGraph< Factor >::exists ( size_t idx ) const

inlineinherited

MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer

◆ front()

sharedFactor gtsam::FactorGraph< Factor >::front ( ) const

inlineinherited

Get the first factor

◆ keys()

KeySet gtsam::FactorGraph< Factor >::keys ( ) const

inherited

Potentially slow function to return all keys involved, sorted, as a set

◆ keyVector()

KeyVector gtsam::FactorGraph< Factor >::keyVector ( ) const

inherited

Potentially slow function to return all keys involved, sorted, as a vector

◆ nrFactors()

size_t gtsam::FactorGraph< Factor >::nrFactors ( ) const

inherited

return the number of non-null factors

◆ operator[]() [1/2]

const sharedFactor gtsam::FactorGraph< Factor >::operator[] ( size_t i ) const

inlineinherited

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

◆ operator[]() [2/2]

sharedFactor& gtsam::FactorGraph< Factor >::operator[] ( size_t i )

inlineinherited

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

◆ push_back() [1/4]

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< Factor >::push_back ( const DERIVEDFACTOR & factor )

inlineinherited

Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).

◆ push_back() [2/4]

HasDerivedElementType<ITERATOR> gtsam::FactorGraph< Factor >::push_back	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inlineinherited

Push back many factors with an iterator over shared_ptr (factors are not copied)

◆ push_back() [3/4]

HasDerivedElementType<CONTAINER> gtsam::FactorGraph< Factor >::push_back ( const CONTAINER & container )

inlineinherited

Push back many factors as shared_ptr's in a container (factors are not copied)

◆ push_back() [4/4]

std::enable_if< std::is_base_of<This, typename CLIQUE::FactorGraphType>::value>::type gtsam::FactorGraph< Factor >::push_back ( const BayesTree< CLIQUE > & bayesTree )

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.

◆ remove()

void gtsam::FactorGraph< Factor >::remove ( size_t i )

inlineinherited

delete factor without re-arranging indexes by inserting a nullptr pointer

◆ replace()

void gtsam::FactorGraph< Factor >::replace	(	size_t	index,
		sharedFactor	factor
	)

inlineinherited

replace a factor by index

◆ reserve()

void gtsam::FactorGraph< Factor >::reserve ( size_t size )

inlineinherited

Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).

◆ resize()

virtual void gtsam::FactorGraph< Factor >::resize ( size_t size )

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.

◆ size()

size_t gtsam::FactorGraph< Factor >::size ( ) const

inlineinherited

return the number of factors (including any null factors set by remove() ).

Member Data Documentation

◆ factors_

FastVector<sharedFactor> gtsam::FactorGraph< Factor >::factors_

protectedinherited

concept check, makes sure FACTOR defines print and equals Collection of factors

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/HybridFactorGraph.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HybridFactorGraph()

Member Function Documentation

◆ add()

◆ add_factors()

◆ at() [1/2]

◆ at() [2/2]

◆ back()

◆ begin() [1/2]

◆ begin() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase() [1/2]

◆ erase() [2/2]

◆ error()

◆ exists()

◆ front()

◆ keys()

◆ keyVector()

◆ nrFactors()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back() [1/4]

◆ push_back() [2/4]

◆ push_back() [3/4]

◆ push_back() [4/4]

◆ remove()

◆ replace()

◆ reserve()

◆ resize()

◆ size()

Member Data Documentation

◆ factors_