GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <HybridNonlinearFactorGraph.h>
Public Types | |
using | Base = HybridFactorGraph |
using | This = HybridNonlinearFactorGraph |
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 | |
HybridNonlinearFactorGraph ()=default | |
template<class DERIVEDFACTOR > | |
HybridNonlinearFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph) | |
void | print (const std::string &s="HybridNonlinearFactorGraph", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
Print the factor graph. | |
Standard Interface | |
std::shared_ptr< HybridGaussianFactorGraph > | linearize (const Values &continuousValues) const |
Linearize all the continuous factors in the HybridNonlinearFactorGraph. More... | |
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 | |
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_ |
This is the non-linear version of a hybrid factor graph. Everything inside needs to be hybrid factor or hybrid conditional.
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inline |
Implicit copy/downcast constructor to override explicit template container constructor. In BayesTree this is used for: cachedSeparatorMarginal_.reset(*separatorMarginal)
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inlineinherited |
Add a factor or container of factors, including STL collections, BayesTrees, etc.
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inherited |
Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
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inlineinherited |
Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
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inlineinherited |
Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
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inlineinherited |
Get the last factor
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inlineinherited |
Iterator to beginning of factors.
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inlineinherited |
non-const STL-style begin()
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inlineinherited |
Check if the graph is empty (null factors set by remove() will cause this to return false).
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inlineinherited |
Iterator to end of factors.
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inlineinherited |
non-const STL-style end()
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inlineinherited |
Erase factor and rearrange other factors to take up the empty space
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inlineinherited |
Erase factors and rearrange other factors to take up the empty space
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inherited |
Add error for all factors.
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inlineinherited |
MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer
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inlineinherited |
Get the first factor
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inherited |
Potentially slow function to return all keys involved, sorted, as a set
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inherited |
Potentially slow function to return all keys involved, sorted, as a vector
std::shared_ptr<HybridGaussianFactorGraph> gtsam::HybridNonlinearFactorGraph::linearize | ( | const Values & | continuousValues | ) | const |
Linearize all the continuous factors in the HybridNonlinearFactorGraph.
continuousValues | Dictionary of continuous values. |
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inherited |
return the number of non-null factors
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inlineinherited |
Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
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inlineinherited |
Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
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inlineinherited |
Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).
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inlineinherited |
Push back many factors with an iterator over shared_ptr (factors are not copied)
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inlineinherited |
Push back many factors as shared_ptr's in a container (factors are not copied)
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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.
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inlineinherited |
delete factor without re-arranging indexes by inserting a nullptr pointer
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inlineinherited |
replace a factor by index
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inlineinherited |
Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).
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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.
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inlineinherited |
return the number of factors (including any null factors set by remove() ).
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protectedinherited |
concept check, makes sure FACTOR defines print and equals Collection of factors