gtsam::SingleValue Class Reference

#include <SingleValue.h>

Inheritance diagram for gtsam::SingleValue:

Collaboration diagram for gtsam::SingleValue:

Public Types
typedef std::shared_ptr< SingleValue >	shared_ptr
typedef DiscreteFactor	This
	This class.
typedef Factor	Base
	Our base class.
using	Values = DiscreteValues
	backwards compatibility
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.
Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.

Public Member Functions
	SingleValue (Key key, size_t n, size_t value)
	Construct from key, cardinality, and given value.
	SingleValue (const DiscreteKey &dkey, size_t value)
	Construct from DiscreteKey and given value.
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
bool	equals (const DiscreteFactor &other, double tol) const override
	equals
double	operator() (const DiscreteValues &values) const override
	Calculate value.
DecisionTreeFactor	toDecisionTreeFactor () const override
	Convert into a decisiontree.
DecisionTreeFactor	operator* (const DecisionTreeFactor &f) const override
	Multiply into a decisiontree.
bool	ensureArcConsistency (Key j, Domains *domains) const override
Constraint::shared_ptr	partiallyApply (const DiscreteValues &values) const override
	Partially apply known values.
Constraint::shared_ptr	partiallyApply (const Domains &domains) const override
	Partially apply known values, domain version.
Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as markdown table.
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as html table.
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
double	error (const DiscreteValues &values) const
	Error is just -log(value)
double	error (const HybridValues &c) const override
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
KeyVector	keys_
	The keys involved in this factor.

Detailed Description

SingleValue constraint: ensures a variable takes on a certain value. This could of course also be implemented by changing its Domain.

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()

double gtsam::DiscreteFactor::error ( const HybridValues &  c ) const

overridevirtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

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

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_unstable/discrete/SingleValue.h