#include <SymbolicConditional.h>

Inheritance diagram for gtsam::SymbolicConditional:

Collaboration diagram for gtsam::SymbolicConditional:

Public Types
typedef SymbolicConditional	This

typedef SymbolicFactor	BaseFactor
	Typedef to this class.

typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to the factor base class.

typedef std::shared_ptr< This >	shared_ptr
	Typedef to the conditional base class.

typedef BaseFactor::iterator	iterator
	Boost shared_ptr to this class.

typedef BaseFactor::const_iterator	const_iterator
	iterator to keys

typedef Factor	Base

typedef SymbolicConditional	ConditionalType

typedef std::pair< typename SymbolicFactor ::const_iterator, typename SymbolicFactor ::const_iterator >	ConstFactorRange

typedef ConstFactorRangeIterator	Frontals

typedef ConstFactorRangeIterator	Parents

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

size_t	nrFrontals_

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

Standard Interface
size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar.

virtual double	logNormalizationConstant () const

double	normalizationConstant () const

Advanced Interface
size_t &	nrFrontals ()

SymbolicFactor ::const_iterator	beginFrontals () const

SymbolicFactor ::iterator	beginFrontals ()

SymbolicFactor ::const_iterator	endFrontals () const

SymbolicFactor ::iterator	endFrontals ()

SymbolicFactor ::const_iterator	beginParents () const

SymbolicFactor ::iterator	beginParents ()

SymbolicFactor ::const_iterator	endParents () const

SymbolicFactor ::iterator	endParents ()

static bool	CheckInvariants (const SymbolicConditional &conditional, const VALUES &x)

Standard Constructors
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

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 ()

Standard Constructors
const_iterator to keys
	SymbolicConditional ()

	SymbolicConditional (Key j)

	SymbolicConditional (Key j, Key parent)

	SymbolicConditional (Key j, Key parent1, Key parent2)

	SymbolicConditional (Key j, Key parent1, Key parent2, Key parent3)

SymbolicFactor::shared_ptr	clone () const
	Copy this object as its actual derived type.

template<typename ITERATOR >
static SymbolicConditional	FromIterators (ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals)

template<typename ITERATOR >
static SymbolicConditional::shared_ptr	FromIteratorsShared (ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals)

template<class CONTAINER >
static SymbolicConditional	FromKeys (const CONTAINER &keys, size_t nrFrontals)

template<class CONTAINER >
static SymbolicConditional::shared_ptr	FromKeysShared (const CONTAINER &keys, size_t nrFrontals)

Testable
void	print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

bool	equals (const This &c, double tol=1e-9) const

HybridValues methods.
double	logProbability (const HybridValues &x) const override
	logProbability throws exception, symbolic.

double	evaluate (const HybridValues &x) const override
	evaluate throws exception, symbolic.

Testable
void	printKeys (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print only keys

Advanced Constructors
template<typename KEYITERATOR >
static SymbolicFactor	FromIterators (KEYITERATOR beginKey, KEYITERATOR endKey)

template<typename KEYITERATOR >
static SymbolicFactor::shared_ptr	FromIteratorsShared (KEYITERATOR beginKey, KEYITERATOR endKey)

template<class CONTAINER >
static SymbolicFactor	FromKeys (const CONTAINER &keys)

template<class CONTAINER >
static SymbolicFactor::shared_ptr	FromKeysShared (const CONTAINER &keys)

Standard Interface
double	error (const HybridValues &c) const override
	The `error` method throws an exception.

std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > >	eliminate (const Ordering &keys) const

Detailed Description

SymbolicConditional is a conditional with keys but no probability data, produced by symbolic elimination of SymbolicFactor.

It is also a SymbolicFactor, and thus derives from it. It derives also from Conditional<This>, which is a generic interface class for conditionals.

Member Typedef Documentation

◆ ConstFactorRange

typedef std::pair<typename SymbolicFactor ::const_iterator, typename SymbolicFactor ::const_iterator> gtsam::Conditional< SymbolicFactor , SymbolicConditional >::ConstFactorRange

inherited

A mini implementation of an iterator range, to share const views of frontals and parents.

◆ Frontals

typedef ConstFactorRangeIterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::Frontals

inherited

View of the frontal keys (call frontals())

◆ Parents

typedef ConstFactorRangeIterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::Parents

inherited

View of the separator keys (call parents())

Constructor & Destructor Documentation

◆ SymbolicConditional() [1/5]

gtsam::SymbolicConditional::SymbolicConditional ( )

inline

Empty Constructor to make serialization possible

◆ SymbolicConditional() [2/5]

gtsam::SymbolicConditional::SymbolicConditional ( Key j )

inline

No parents

◆ SymbolicConditional() [3/5]

gtsam::SymbolicConditional::SymbolicConditional	(	Key	j,
		Key	parent
	)

inline

Single parent

◆ SymbolicConditional() [4/5]

gtsam::SymbolicConditional::SymbolicConditional	(	Key	j,
		Key	parent1,
		Key	parent2
	)

inline

Two parents

◆ SymbolicConditional() [5/5]

gtsam::SymbolicConditional::SymbolicConditional	(	Key	j,
		Key	parent1,
		Key	parent2,
		Key	parent3
	)

inline

Three parents

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

◆ beginFrontals() [1/2]

SymbolicFactor ::const_iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::beginFrontals ( ) const

inlineinherited

Iterator pointing to first frontal key.

◆ beginFrontals() [2/2]

SymbolicFactor ::iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::beginFrontals ( )

inlineinherited

Mutable iterator pointing to first frontal key.

◆ beginParents() [1/2]

SymbolicFactor ::const_iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::beginParents ( ) const

inlineinherited

Iterator pointing to the first parent key.

◆ beginParents() [2/2]

SymbolicFactor ::iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::beginParents ( )

inlineinherited

Mutable iterator pointing to the first parent key.

◆ CheckInvariants()

bool gtsam::Conditional< SymbolicFactor , SymbolicConditional >::CheckInvariants	(	const SymbolicConditional< SymbolicFactor, SymbolicConditional > &	conditional,
		const VALUES &	x
	)

staticinherited

Check invariants of this conditional, given the values x. It tests:

evaluate >= 0.0
evaluate(x) == conditional(x)
exp(logProbability(x)) == evaluate(x)
logNormalizationConstant() = log(normalizationConstant())
error >= 0.0
logProbability(x) == logNormalizationConstant() - error(x)

Parameters

conditional The conditional to test, as a reference to the derived type.

Template Parameters

VALUES HybridValues, or a more narrow type like DiscreteValues.

◆ eliminate()

std::pair<std::shared_ptr<SymbolicConditional>, std::shared_ptr<SymbolicFactor> > gtsam::SymbolicFactor::eliminate ( const Ordering & keys ) const

inherited

Eliminate the variables in keys, in the order specified in keys, returning a conditional and marginal.

◆ 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

◆ endFrontals() [1/2]

SymbolicFactor ::const_iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::endFrontals ( ) const

inlineinherited

Iterator pointing past the last frontal key.

◆ endFrontals() [2/2]

SymbolicFactor ::iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::endFrontals ( )

inlineinherited

Mutable iterator pointing past the last frontal key.

◆ endParents() [1/2]

SymbolicFactor ::const_iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::endParents ( ) const

inlineinherited

Iterator pointing past the last parent key.

◆ endParents() [2/2]

SymbolicFactor ::iterator gtsam::Conditional< SymbolicFactor , SymbolicConditional >::endParents ( )

inlineinherited

Mutable iterator pointing past the last parent key.

◆ equals() [1/2]

bool gtsam::SymbolicConditional::equals	(	const This &	c,
		double	tol = `1e-9`
	)		const

Check equality

◆ equals() [2/2]

bool gtsam::Conditional< SymbolicFactor , SymbolicConditional >::equals	(	const This &	c,
		double	tol = `1e-9`
	)		const

inherited

check equality

◆ firstFrontalKey()

Key gtsam::Conditional< SymbolicFactor , SymbolicConditional >::firstFrontalKey ( ) const

inlineinherited

Convenience function to get the first frontal key

◆ FromIterators() [1/3]

template<typename ITERATOR >

static SymbolicConditional gtsam::SymbolicConditional::FromIterators	(	ITERATOR	firstKey,
		ITERATOR	lastKey,
		size_t	nrFrontals
	)

inlinestatic

Named constructor from an arbitrary number of keys and frontals

◆ FromIterators() [2/3]

template<typename KEYITERATOR >

static SymbolicFactor gtsam::SymbolicFactor::FromIterators	(	KEYITERATOR	beginKey,
		KEYITERATOR	endKey
	)

inlinestaticinherited

Constructor from a collection of keys

◆ FromIterators() [3/3]

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.

◆ FromIteratorsShared() [1/2]

template<typename ITERATOR >

static SymbolicConditional::shared_ptr gtsam::SymbolicConditional::FromIteratorsShared	(	ITERATOR	firstKey,
		ITERATOR	lastKey,
		size_t	nrFrontals
	)

inlinestatic

Named constructor from an arbitrary number of keys and frontals

◆ FromIteratorsShared() [2/2]

template<typename KEYITERATOR >

static SymbolicFactor::shared_ptr gtsam::SymbolicFactor::FromIteratorsShared	(	KEYITERATOR	beginKey,
		KEYITERATOR	endKey
	)

inlinestaticinherited

Constructor from a collection of keys

◆ FromKeys() [1/2]

template<class CONTAINER >

static SymbolicConditional gtsam::SymbolicConditional::FromKeys	(	const CONTAINER &	keys,
		size_t	nrFrontals
	)

inlinestatic

Named constructor from an arbitrary number of keys and frontals

◆ FromKeys() [2/2]

template<class CONTAINER >

static SymbolicFactor gtsam::SymbolicFactor::FromKeys ( const CONTAINER & keys )

inlinestaticinherited

Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of

◆ FromKeysShared() [1/2]

template<class CONTAINER >

static SymbolicConditional::shared_ptr gtsam::SymbolicConditional::FromKeysShared	(	const CONTAINER &	keys,
		size_t	nrFrontals
	)

inlinestatic

Named constructor from an arbitrary number of keys and frontals

◆ FromKeysShared() [2/2]

template<class CONTAINER >

static SymbolicFactor::shared_ptr gtsam::SymbolicFactor::FromKeysShared ( const CONTAINER & keys )

inlinestaticinherited

Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of

◆ frontals()

Frontals gtsam::Conditional< SymbolicFactor , SymbolicConditional >::frontals ( ) const

inlineinherited

return a view of the frontal keys

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ logNormalizationConstant()

double gtsam::Conditional< SymbolicFactor , SymbolicConditional >::logNormalizationConstant ( ) const

virtualinherited

All conditional types need to implement a log normalization constant to make it such that error>=0.

◆ normalizationConstant()

double gtsam::Conditional< SymbolicFactor , SymbolicConditional >::normalizationConstant ( ) const

inherited

Non-virtual, exponentiate logNormalizationConstant.

◆ nrFrontals() [1/2]

size_t gtsam::Conditional< SymbolicFactor , SymbolicConditional >::nrFrontals ( ) const

inlineinherited

return the number of frontals

◆ nrFrontals() [2/2]

size_t& gtsam::Conditional< SymbolicFactor , SymbolicConditional >::nrFrontals ( )

inlineinherited

Mutable version of nrFrontals

◆ nrParents()

size_t gtsam::Conditional< SymbolicFactor , SymbolicConditional >::nrParents ( ) const

inlineinherited

return the number of parents

◆ parents()

Parents gtsam::Conditional< SymbolicFactor , SymbolicConditional >::parents ( ) const

inlineinherited

return a view of the parent keys

◆ print()

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

overridevirtual

Print with optional formatter

Reimplemented from gtsam::Factor.

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

Member Data Documentation

◆ nrFrontals_

size_t gtsam::Conditional< SymbolicFactor , SymbolicConditional >::nrFrontals_

protectedinherited

The first nrFrontal variables are frontal and the rest are parents.

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/symbolic/SymbolicConditional.h

Public Types

Protected Attributes

Testable

Standard Interface

Advanced Interface

Standard Constructors

Standard Interface

Advanced Interface

Standard Constructors

Testable

HybridValues methods.

Testable

Advanced Constructors

Standard Interface

Detailed Description

Member Typedef Documentation

◆ ConstFactorRange

◆ Frontals

◆ Parents

Constructor & Destructor Documentation

◆ SymbolicConditional() [1/5]

◆ SymbolicConditional() [2/5]

◆ SymbolicConditional() [3/5]

◆ SymbolicConditional() [4/5]

◆ SymbolicConditional() [5/5]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ beginFrontals() [1/2]

◆ beginFrontals() [2/2]

◆ beginParents() [1/2]

◆ beginParents() [2/2]

◆ CheckInvariants()

◆ eliminate()

◆ end() [1/2]

◆ end() [2/2]

◆ endFrontals() [1/2]

◆ endFrontals() [2/2]

◆ endParents() [1/2]

◆ endParents() [2/2]

◆ equals() [1/2]

◆ equals() [2/2]

◆ firstFrontalKey()

◆ FromIterators() [1/3]

◆ FromIterators() [2/3]

◆ FromIterators() [3/3]

◆ FromIteratorsShared() [1/2]

◆ FromIteratorsShared() [2/2]

◆ FromKeys() [1/2]

◆ FromKeys() [2/2]

◆ FromKeysShared() [1/2]

◆ FromKeysShared() [2/2]

◆ frontals()

◆ keys()

◆ logNormalizationConstant()

◆ normalizationConstant()

◆ nrFrontals() [1/2]

◆ nrFrontals() [2/2]

◆ nrParents()

◆ parents()

◆ print()

◆ size()

Member Data Documentation

◆ nrFrontals_