#include <Values.h>

Classes
struct	ConstKeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

struct	deref_iterator

struct	KeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

Public Types
typedef std::shared_ptr< Values >	shared_ptr
	A shared_ptr to this class.

typedef std::shared_ptr< const Values >	const_shared_ptr
	A const shared_ptr to this class.

typedef KeyValuePair	value_type

Public Member Functions
void	insert (Key j, const Value &val)

void	insert (const Values &values)

template<typename ValueType >
void	insert (Key j, const ValueType &val)

void	insertDouble (Key j, double c)
	version for double

void	update (Key j, const Value &val)

template<typename T >
void	update (Key j, const T &val)

void	update (const Values &values)

void	insert_or_assign (Key j, const Value &val)
	If key j exists, update value, else perform an insert.

void	insert_or_assign (const Values &values)

template<typename ValueType >
void	insert_or_assign (Key j, const ValueType &val)
	Templated version to insert_or_assign a variable with the given j.

void	erase (Key j)

KeyVector	keys () const

KeySet	keySet () const

Values &	operator= (const Values &rhs)

void	swap (Values &other)

void	clear ()

size_t	dim () const

std::map< Key, size_t >	dims () const

VectorValues	zeroVectors () const

template<class ValueType >
size_t	count () const

template<class ValueType >
std::map< Key, ValueType >	extract (const std::function< bool(Key)> &filterFcn=&_truePredicate< Key >) const

template<typename ValueType >
void	update (Key j, const ValueType &val)

Constructors
	Values ()=default

	Values (const Values &other)

	Values (Values &&other)

	Values (std::initializer_list< ConstKeyValuePair > init)

	Values (const Values &other, const VectorValues &delta)

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

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

Standard Interface
template<typename ValueType >
const ValueType	at (Key j) const

double	atDouble (size_t key) const
	version for double

const Value &	at (Key j) const

bool	exists (Key j) const

template<typename ValueType >
const ValueType *	exists (Key j) const

size_t	size () const

bool	empty () const

Iterator
deref_iterator	begin () const

deref_iterator	end () const

deref_iterator	find (Key j) const

deref_iterator	lower_bound (Key j) const

deref_iterator	upper_bound (Key j) const

Manifold Operations
Values	retract (const VectorValues &delta) const

void	retractMasked (const VectorValues &delta, const KeySet &mask)

VectorValues	localCoordinates (const Values &cp) const

Detailed Description

A non-templated config holding any types of Manifold-group elements. A values structure is a map from keys to values. It is used to specify the value of a bunch of variables in a factor graph. A Values is a values structure which can hold variables that are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.

Constructor & Destructor Documentation

◆ Values() [1/5]

gtsam::Values::Values ( )

default

Default constructor creates an empty Values class

◆ Values() [2/5]

gtsam::Values::Values ( const Values & other )

Copy constructor duplicates all keys and values

◆ Values() [3/5]

gtsam::Values::Values ( Values && other )

Move constructor

◆ Values() [4/5]

gtsam::Values::Values ( std::initializer_list< ConstKeyValuePair > init )

Constructor from initializer list. Example usage:

Values v = {{k1, genericValue(pose1)}, {k2, genericValue(point2)}};

◆ Values() [5/5]

gtsam::Values::Values	(	const Values &	other,
		const VectorValues &	delta
	)

Construct from a Values and an update vector: identical to other.retract(delta)

Member Function Documentation

◆ at() [1/2]

template<typename ValueType >

const ValueType Values::at ( Key j ) const

Retrieve a variable by key j. The type of the value associated with this key is supplied as a template argument to this function.

Parameters

j	Retrieve the value associated with this key

Template Parameters

ValueType The type of the value stored with this key, this method Throws DynamicValuesIncorrectType if this requested type is not correct. Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa.

Returns: The stored value

◆ at() [2/2]

const Value& gtsam::Values::at ( Key j ) const

Retrieve a variable by key j. This version returns a reference to the base Value class, and needs to be casted before use.

Parameters

j	Retrieve the value associated with this key

Returns: A const reference to the stored value

◆ clear()

void gtsam::Values::clear ( )

inline

Remove all variables from the config

◆ dim()

size_t gtsam::Values::dim ( ) const

Compute the total dimensionality of all values ( \( O(n) \))

◆ dims()

std::map<Key,size_t> gtsam::Values::dims ( ) const

Return all dimensions in a map ( \( O(n log n) \))

◆ empty()

bool gtsam::Values::empty ( ) const

inline

whether the config is empty

◆ equals()

bool gtsam::Values::equals	(	const Values &	other,
		double	tol = `1e-9`
	)		const

Test whether the sets of keys and values are identical

◆ erase()

void gtsam::Values::erase ( Key j )

Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present

◆ exists() [1/2]

bool gtsam::Values::exists ( Key j ) const

Check if a value exists with key j. See exists<>(Key j) and exists(const TypedKey& j) for versions that return the value if it exists.

◆ exists() [2/2]

template<typename ValueType >

const ValueType * Values::exists ( Key j ) const

Check if a value with key j exists, returns a pointer to the const version of the value Value if the key does exist, or nullptr if it does not exist. Throws DynamicValuesIncorrectType if the value type associated with the requested key does not match the stored value type.

◆ extract()

template<class ValueType >

std::map< Key, ValueType > Values::extract ( const std::function< bool(Key)> & filterFcn = &_truePredicate<Key> ) const

Extract a subset of values of the given type ValueType.

In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. This replaces the fancier but very boost-dependent filter methods that were previously available up to GTSAM 4.2.

Template Parameters

ValueType The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys (default: always return true so that filter() only filters by type, matching ValueType).

Returns: An Eigen aligned map on Key with the filtered values.

◆ find()

deref_iterator gtsam::Values::find ( Key j ) const

inline

Find an element by key, returning an iterator, or end() if the key was not found.

◆ insert() [1/3]

void gtsam::Values::insert	(	Key	j,
		const Value &	val
	)

Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

◆ insert() [2/3]

void gtsam::Values::insert ( const Values & values )

Add a set of variables, throws KeyAlreadyExists<J> if a key is already present

◆ insert() [3/3]

template<typename ValueType >

void Values::insert	(	Key	j,
		const ValueType &	val
	)

Templated version to add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

◆ insert_or_assign()

void gtsam::Values::insert_or_assign ( const Values & values )

Update a set of variables. If any variable key doe not exist, then perform an insert.

◆ keys()

KeyVector gtsam::Values::keys ( ) const

Returns a vector of keys in the config. Note: by construction, the list is ordered

◆ keySet()

KeySet gtsam::Values::keySet ( ) const

Returns a set of keys in the config.

◆ localCoordinates()

VectorValues gtsam::Values::localCoordinates ( const Values & cp ) const

Get a delta config about a linearization point c0 (*this)

◆ lower_bound()

deref_iterator gtsam::Values::lower_bound ( Key j ) const

inline

Find the element greater than or equal to the specified key.

◆ operator=()

Values& gtsam::Values::operator= ( const Values & rhs )

Replace all keys and variables

◆ print()

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

print method for testing and debugging

◆ retract()

Values gtsam::Values::retract ( const VectorValues & delta ) const

Add a delta config to current config and returns a new config

◆ retractMasked()

void gtsam::Values::retractMasked	(	const VectorValues &	delta,
		const KeySet &	mask
	)

Retract, but only for Keys appearing in mask. In-place.

Parameters

mask	Mask on Keys where to apply retract.

◆ size()

size_t gtsam::Values::size ( ) const

inline

The number of variables in this config

◆ swap()

void gtsam::Values::swap ( Values & other )

inline

Swap the contents of two Values without copying data

◆ update() [1/3]

void gtsam::Values::update	(	Key	j,
		const Value &	val
	)

single element change of existing element

◆ update() [2/3]

template<typename T >

void gtsam::Values::update	(	Key	j,
		const T &	val
	)

Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present. If no chart is specified, the DefaultChart<ValueType> is used.

◆ update() [3/3]

void gtsam::Values::update ( const Values & values )

update the current available values without adding new ones

◆ upper_bound()

deref_iterator gtsam::Values::upper_bound ( Key j ) const

inline

Find the lowest-ordered element greater than the specified key.

◆ zeroVectors()

VectorValues gtsam::Values::zeroVectors ( ) const

Return a VectorValues of zero vectors for each variable in this Values

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/Values.h
/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/Values-inl.h

Classes

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Values() [1/5]

◆ Values() [2/5]

◆ Values() [3/5]

◆ Values() [4/5]

◆ Values() [5/5]

Member Function Documentation

◆ at() [1/2]

◆ at() [2/2]

◆ clear()

◆ dim()

◆ dims()

◆ empty()

◆ equals()

◆ erase()

◆ exists() [1/2]

◆ exists() [2/2]

◆ extract()

◆ find()

◆ insert() [1/3]

◆ insert() [2/3]

◆ insert() [3/3]

◆ insert_or_assign()

◆ keys()

◆ keySet()

◆ localCoordinates()

◆ lower_bound()

◆ operator=()

◆ print()

◆ retract()

◆ retractMasked()

◆ size()

◆ swap()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

◆ upper_bound()

◆ zeroVectors()