Implementation of a discrete conditional mixture factor. More...

#include <MixtureFactor.h>

Inheritance diagram for gtsam::MixtureFactor:

Collaboration diagram for gtsam::MixtureFactor:

Public Types
using	Base = HybridFactor

using	This = MixtureFactor

using	shared_ptr = std::shared_ptr< MixtureFactor >

using	sharedFactor = std::shared_ptr< NonlinearFactor >

using	Factors = DecisionTree< Key, sharedFactor >
	typedef for DecisionTree which has Keys as node labels and NonlinearFactor as leaf nodes.

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	MixtureFactor (const KeyVector &keys, const DiscreteKeys &discreteKeys, const Factors &factors, bool normalized=false)
	Construct from Decision tree. More...

template<typename FACTOR >
	MixtureFactor (const KeyVector &keys, const DiscreteKeys &discreteKeys, const std::vector< std::shared_ptr< FACTOR >> &factors, bool normalized=false)
	Convenience constructor that generates the underlying factor decision tree for us. More...

AlgebraicDecisionTree< Key >	error (const Values &continuousValues) const
	Compute error of the MixtureFactor as a tree. More...

double	error (const Values &continuousValues, const DiscreteValues &discreteValues) const
	Compute error of factor given both continuous and discrete values. More...

double	error (const HybridValues &values) const override
	Compute error of factor given hybrid values. More...

size_t	dim () const
	Get the dimension of the factor (number of rows on linearization). Returns the dimension of the first component factor. More...

GaussianFactor::shared_ptr	linearize (const Values &continuousValues, const DiscreteValues &discreteValues) const

std::shared_ptr< GaussianMixtureFactor >	linearize (const Values &continuousValues) const
	Linearize all the continuous factors to get a GaussianMixtureFactor.

double	nonlinearFactorLogNormalizingConstant (const sharedFactor &factor, const Values &values) const


void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print to stdout More...

bool	equals (const HybridFactor &other, double tol=1e-9) const override
	Check equality.

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

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

size_t	size () const

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

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

Implementation of a discrete conditional mixture factor.

Implements a joint discrete-continuous factor where the discrete variable serves to "select" a mixture component corresponding to a NonlinearFactor type of measurement.

This class stores all factors as HybridFactors which can then be typecast to one of (NonlinearFactor, GaussianFactor) which can then be checked to perform the correct operation.

Constructor & Destructor Documentation

◆ MixtureFactor() [1/2]

gtsam::MixtureFactor::MixtureFactor	(	const KeyVector &	keys,
		const DiscreteKeys &	discreteKeys,
		const Factors &	factors,
		bool	normalized = `false`
	)

inline

Construct from Decision tree.

Parameters

keys	Vector of keys for continuous factors.
discreteKeys	Vector of discrete keys.
factors	Decision tree with of shared factors.
normalized	Flag indicating if the factor error is already normalized.

◆ MixtureFactor() [2/2]

template<typename FACTOR >

gtsam::MixtureFactor::MixtureFactor	(	const KeyVector &	keys,
		const DiscreteKeys &	discreteKeys,
		const std::vector< std::shared_ptr< FACTOR >> &	factors,
		bool	normalized = `false`
	)

inline

Convenience constructor that generates the underlying factor decision tree for us.

Here it is important that the vector of factors has the correct number of elements based on the number of discrete keys and the cardinality of the keys, so that the decision tree is constructed appropriately.

Template Parameters

FACTOR The type of the factor shared pointers being passed in. Will be typecast to NonlinearFactor shared pointers.

Parameters

keys	Vector of keys for continuous factors.
discreteKeys	Vector of discrete keys.
factors	Vector of nonlinear factors.
normalized	Flag indicating if the factor error is already normalized.

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

◆ dim()

size_t gtsam::MixtureFactor::dim ( ) const

inline

Get the dimension of the factor (number of rows on linearization). Returns the dimension of the first component factor.

Returns: size_t

◆ 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() [1/3]

AlgebraicDecisionTree<Key> gtsam::MixtureFactor::error ( const Values & continuousValues ) const

inline

Compute error of the MixtureFactor as a tree.

Parameters

continuousValues The continuous values for which to compute the error.

Returns: AlgebraicDecisionTree<Key> A decision tree with the same keys as the factor, and leaf values as the error.

◆ error() [2/3]

double gtsam::MixtureFactor::error	(	const Values &	continuousValues,
		const DiscreteValues &	discreteValues
	)		const

inline

Compute error of factor given both continuous and discrete values.

Parameters

continuousValues	The continuous Values.
discreteValues	The discrete Values.

Returns: double The error of this factor.

◆ error() [3/3]

double gtsam::MixtureFactor::error ( const HybridValues & values ) const

inlineoverridevirtual

Compute error of factor given hybrid values.

Parameters

values The continuous Values and the discrete assignment.

Returns: double The error of this factor.

Reimplemented from gtsam::Factor.

◆ 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

◆ linearize()

GaussianFactor::shared_ptr gtsam::MixtureFactor::linearize	(	const Values &	continuousValues,
		const DiscreteValues &	discreteValues
	)		const

inline

Linearize specific nonlinear factors based on the assignment in discreteValues.

◆ nonlinearFactorLogNormalizingConstant()

double gtsam::MixtureFactor::nonlinearFactorLogNormalizingConstant	(	const sharedFactor &	factor,
		const Values &	values
	)		const

inline

If the component factors are not already normalized, we want to compute their normalizing constants so that the resulting joint distribution is appropriately computed. Remember, this is the negative normalizing constant for the measurement likelihood (since we are minimizing the negative log-likelihood).

◆ print()

void gtsam::MixtureFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print to stdout

Testable

Reimplemented from gtsam::HybridFactor.

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

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/hybrid/MixtureFactor.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MixtureFactor() [1/2]

◆ MixtureFactor() [2/2]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ error() [1/3]

◆ error() [2/3]

◆ error() [3/3]

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ nonlinearFactorLogNormalizingConstant()

◆ print()

◆ size()