gtsam::LabeledSymbol Class Reference

#include <LabeledSymbol.h>

Public Member Functions
	LabeledSymbol ()
	LabeledSymbol (const LabeledSymbol &key)
	LabeledSymbol (unsigned char c, unsigned char label, std::uint64_t j)
	LabeledSymbol (gtsam::Key key)
	operator gtsam::Key () const
void	print (const std::string &s="") const
bool	equals (const LabeledSymbol &expected, double tol=0.0) const
gtsam::Key	key () const
unsigned char	label () const
unsigned char	chr () const
size_t	index () const
	operator std::string () const
bool	operator< (const LabeledSymbol &comp) const
bool	operator== (const LabeledSymbol &comp) const
bool	operator== (gtsam::Key comp) const
bool	operator!= (const LabeledSymbol &comp) const
bool	operator!= (gtsam::Key comp) const
LabeledSymbol	upper () const
LabeledSymbol	lower () const
LabeledSymbol	newChr (unsigned char c) const
LabeledSymbol	newLabel (unsigned char label) const

Static Public Member Functions
static std::function< bool(gtsam::Key)>	TypeTest (unsigned char c)
static std::function< bool(gtsam::Key)>	LabelTest (unsigned char label)
static std::function< bool(gtsam::Key)>	TypeLabelTest (unsigned char c, unsigned char label)

Protected Attributes
unsigned char	c_
unsigned char	label_
std::uint64_t	j_

Friends
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &, const LabeledSymbol &)
	Output stream operator that can be used with key_formatter (see Key.h).

Detailed Description

Customized version of gtsam::Symbol for multi-robot use.

This variation of Symbol stores two char values in addition to an integer key, which is useful for encoding a group for a variable. This was originally designed for multi-robot systems, which allows expressing "Pose 7 from robot B" as "xB7".

Constructor & Destructor Documentation

LabeledSymbol() [1/4]

gtsam::LabeledSymbol::LabeledSymbol

(

)

Default constructor

LabeledSymbol() [2/4]

gtsam::LabeledSymbol::LabeledSymbol

(

const LabeledSymbol &

key

)

Copy constructor

LabeledSymbol() [3/4]

gtsam::LabeledSymbol::LabeledSymbol	(	unsigned char	c,
		unsigned char	label,
		std::uint64_t	j
	)

Constructor

LabeledSymbol() [4/4]

gtsam::LabeledSymbol::LabeledSymbol

(

gtsam::Key

key

)

Constructor that decodes an integer gtsam::Key

Member Function Documentation

chr()

unsigned char gtsam::LabeledSymbol::chr ( ) const

inline

Retrieve key character

index()

size_t gtsam::LabeledSymbol::index ( ) const

inline

Retrieve key index

key()

gtsam::Key gtsam::LabeledSymbol::key ( ) const

inline

return the integer version

label()

unsigned char gtsam::LabeledSymbol::label ( ) const

inline

Retrieve label character

operator gtsam::Key()

gtsam::LabeledSymbol::operator gtsam::Key

(

)

const

Cast to integer

operator std::string()

gtsam::LabeledSymbol::operator std::string

(

)

const

Create a string from the key

operator<()

bool gtsam::LabeledSymbol::operator<

(

const LabeledSymbol &

comp

)

const

Comparison for use in maps

TypeTest()

static std::function<bool(gtsam::Key)> gtsam::LabeledSymbol::TypeTest ( unsigned char  c )

static

Return a filter function that returns true when evaluated on a gtsam::Key whose character (when converted to a LabeledSymbol) matches c. Use this with the Values::filter() function to retrieve all key-value pairs with the requested character.

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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/inference/LabeledSymbol.h