#include <SymbolicFactor.h>

Inheritance diagram for gtsam::SymbolicFactor:

Collaboration diagram for gtsam::SymbolicFactor:

Public Types
typedef SymbolicFactor	This

typedef Factor	Base

typedef SymbolicConditional	ConditionalType

typedef std::shared_ptr< This >	shared_ptr

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

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
	SymbolicFactor ()

	SymbolicFactor (Key j)

	SymbolicFactor (Key j1, Key j2)

	SymbolicFactor (Key j1, Key j2, Key j3)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5, Key j6)

	SymbolicFactor (const Factor &factor)

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

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

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

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

SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function.

for symbolic elimination etc.

Note that derived classes must also redefine the This and shared_ptr typedefs. See JacobianFactor, etc. for examples.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::SymbolicFactor::shared_ptr

Overriding the shared_ptr typedef

Constructor & Destructor Documentation

◆ SymbolicFactor() [1/8]

gtsam::SymbolicFactor::SymbolicFactor ( )

inline

Default constructor for I/O

◆ SymbolicFactor() [2/8]

gtsam::SymbolicFactor::SymbolicFactor ( Key j )

inlineexplicit

Construct unary factor

◆ SymbolicFactor() [3/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2
	)

inline

Construct binary factor

◆ SymbolicFactor() [4/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3
	)

inline

Construct ternary factor

◆ SymbolicFactor() [5/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4
	)

inline

Construct 4-way factor

◆ SymbolicFactor() [6/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4,
		Key	j5
	)

inline

Construct 5-way factor

◆ SymbolicFactor() [7/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4,
		Key	j5,
		Key	j6
	)

inline

Construct 6-way factor

◆ SymbolicFactor() [8/8]

gtsam::SymbolicFactor::SymbolicFactor ( const Factor & factor )

inlineexplicit

Create symbolic version of any factor

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

◆ eliminate()

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

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

◆ FromIterators() [1/2]

template<typename KEYITERATOR >

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

inlinestatic

Constructor from a collection of keys

◆ FromIterators() [2/2]

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()

template<typename KEYITERATOR >

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

inlinestatic

Constructor from a collection of keys

◆ FromKeys()

template<class CONTAINER >

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

inlinestatic

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

◆ FromKeysShared()

template<class CONTAINER >

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

inlinestatic

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

◆ 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

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/SymbolicFactor.h

Public Types

Protected Attributes

Standard Constructors

Standard Interface

Advanced Interface

Standard Constructors

Testable

Advanced Constructors

Standard Interface

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ SymbolicFactor() [1/8]

◆ SymbolicFactor() [2/8]

◆ SymbolicFactor() [3/8]

◆ SymbolicFactor() [4/8]

◆ SymbolicFactor() [5/8]

◆ SymbolicFactor() [6/8]

◆ SymbolicFactor() [7/8]

◆ SymbolicFactor() [8/8]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ eliminate()

◆ end() [1/2]

◆ end() [2/2]

◆ FromIterators() [1/2]

◆ FromIterators() [2/2]

◆ FromIteratorsShared()

◆ FromKeys()

◆ FromKeysShared()

◆ keys()

◆ size()