#include <VectorValues.h>

Collaboration diagram for gtsam::VectorValues:

Public Types
typedef Values::iterator	iterator
	Iterator over vector values.

typedef Values::const_iterator	const_iterator
	Const iterator over vector values.

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class

typedef Values::value_type	value_type
	Typedef to pair<Key, Vector>

typedef value_type	KeyValuePair
	Typedef to pair<Key, Vector>

typedef std::map< Key, size_t >	Dims
	Keyed vector dimensions.

Public Member Functions
Advanced Interface
Vector	vector () const

template<typename CONTAINER >
Vector	vector (const CONTAINER &keys) const

Vector	vector (const Dims &dims) const

void	swap (VectorValues &other)

bool	hasSameStructure (const VectorValues other) const

Wrapper support
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output as a html table. More...

Protected Types
typedef VectorValues	This

typedef ConcurrentMap< Key, Vector >	Values
	Collection of Vectors making up a VectorValues.

Protected Attributes
Values	values_
	Vectors making up this VectorValues.

Standard Constructors
	VectorValues ()
	Default constructor creates an empty VectorValues.

	VectorValues (std::initializer_list< std::pair< Key, Vector >> init)
	Construct from initializer list.

	VectorValues (const VectorValues &first, const VectorValues &second)

template<class CONTAINER >
	VectorValues (const CONTAINER &c)

	VectorValues (const VectorValues &c)

template<typename ITERATOR >
	VectorValues (ITERATOR first, ITERATOR last)

	VectorValues (const Vector &c, const Dims &dims)
	Constructor from Vector, with Dims.

	VectorValues (const Vector &c, const Scatter &scatter)
	Constructor from Vector, with Scatter.

static VectorValues	Zero (const VectorValues &other)

Standard Interface
size_t	size () const

size_t	dim (Key j) const

bool	exists (Key j) const

Vector &	at (Key j)

const Vector &	at (Key j) const

Vector &	operator[] (Key j)

const Vector &	operator[] (Key j) const

VectorValues &	update (const VectorValues &values)

iterator	insert (const std::pair< Key, Vector > &key_value)

template<class... Args>
std::pair< VectorValues::iterator, bool >	emplace (Key j, Args &&... args)

iterator	insert (Key j, const Vector &value)

VectorValues &	insert (const VectorValues &values)

std::pair< iterator, bool >	tryInsert (Key j, const Vector &value)

void	insert_or_assign (Key j, const Vector &value)

void	erase (Key var)

void	setZero ()

iterator	begin ()
	Iterator over variables.

const_iterator	begin () const
	Iterator over variables.

iterator	end ()
	Iterator over variables.

const_iterator	end () const
	Iterator over variables.

iterator	find (Key j)

const_iterator	find (Key j) const

void	print (const std::string &str="VectorValues", const KeyFormatter &formatter=DefaultKeyFormatter) const

bool	equals (const VectorValues &x, double tol=1e-9) const

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &, const VectorValues &)
	overload operator << to print to stringstream

Linear algebra operations
double	dot (const VectorValues &v) const

double	norm () const

double	squaredNorm () const

VectorValues	operator+ (const VectorValues &c) const

VectorValues	add (const VectorValues &c) const

VectorValues &	operator+= (const VectorValues &c)

VectorValues &	addInPlace (const VectorValues &c)

VectorValues &	addInPlace_ (const VectorValues &c)

VectorValues	operator- (const VectorValues &c) const

VectorValues	subtract (const VectorValues &c) const

VectorValues	scale (const double a) const

VectorValues &	operator*= (double alpha)

VectorValues &	scaleInPlace (double alpha)

GTSAM_EXPORT VectorValues	operator* (const double a, const VectorValues &v)

Detailed Description

VectorValues represents a collection of vector-valued variables associated each with a unique integer index. It is typically used to store the variables of a GaussianFactorGraph. Optimizing a GaussianFactorGraph or GaussianBayesNet returns this class.

For basic usage, such as receiving a linear solution from gtsam solving functions, or creating this class in unit tests and examples where speed is not important, you can use a simple interface:

The default constructor VectorValues() to create this class
insert(Key, const Vector&) to add vector variables
operator[](Key) for read and write access to stored variables
exists (Key) to check if a variable is present
Other facilities like iterators, size(), dim(), etc.

Example:

VectorValues values;
values.emplace(3, Vector3(1.0, 2.0, 3.0));
values.emplace(4, Vector2(4.0, 5.0));
values.emplace(0, (Vector(4) << 6.0, 7.0, 8.0, 9.0).finished());
// Prints [ 3.0 4.0 ]
gtsam::print(values[1]);
// Prints [ 8.0 9.0 ]
values[1] = Vector2(8.0, 9.0);
gtsam::print(values[1]);

Advanced Interface and Performance Information

Access is through the variable Key j, and returns a SubVector, which is a view on the underlying data structure.

This class is additionally used in gradient descent and dog leg to store the gradient.

Constructor & Destructor Documentation

◆ VectorValues() [1/4]

gtsam::VectorValues::VectorValues	(	const VectorValues &	first,
		const VectorValues &	second
	)

Merge two VectorValues into one, this is more efficient than inserting elements one by one.

◆ VectorValues() [2/4]

template<class CONTAINER >

gtsam::VectorValues::VectorValues ( const CONTAINER & c )

inlineexplicit

Create from another container holding pair<Key,Vector>.

◆ VectorValues() [3/4]

gtsam::VectorValues::VectorValues ( const VectorValues & c )

inline

Implicit copy constructor to specialize the explicit constructor from any container.

◆ VectorValues() [4/4]

template<typename ITERATOR >

gtsam::VectorValues::VectorValues	(	ITERATOR	first,
		ITERATOR	last
	)

inline

Create from a pair of iterators over pair<Key,Vector>.

Member Function Documentation

◆ add()

VectorValues gtsam::VectorValues::add ( const VectorValues & c ) const

Element-wise addition, synonym for operator+(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ addInPlace()

VectorValues& gtsam::VectorValues::addInPlace ( const VectorValues & c )

Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ addInPlace_()

VectorValues& gtsam::VectorValues::addInPlace_ ( const VectorValues & c )

Element-wise addition in-place, but allows for empty slots in *this. Slower

◆ at() [1/2]

Vector& gtsam::VectorValues::at ( Key j )

inline

Read/write access to the vector value with key j, throws std::out_of_range if j does not exist, identical to operator[](Key).

◆ at() [2/2]

const Vector& gtsam::VectorValues::at ( Key j ) const

inline

Access the vector value with key j (const version), throws std::out_of_range if j does not exist, identical to operator[](Key).

◆ dim()

size_t gtsam::VectorValues::dim ( Key j ) const

inline

Return the dimension of variable j.

◆ dot()

double gtsam::VectorValues::dot ( const VectorValues & v ) const

Dot product with another VectorValues, interpreting both as vectors of their concatenated values. Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ emplace()

template<class... Args>

std::pair<VectorValues::iterator, bool> gtsam::VectorValues::emplace	(	Key	j,
		Args &&...	args
	)

inline

Emplace a vector value with key j. Throws an invalid_argument exception if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

◆ equals()

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

equals required by Testable for unit testing

◆ erase()

void gtsam::VectorValues::erase ( Key var )

inline

Erase the vector with the given key, or throw std::out_of_range if it does not exist

◆ exists()

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

inline

Check whether a variable with key j exists.

◆ find() [1/2]

iterator gtsam::VectorValues::find ( Key j )

inline

Return the iterator corresponding to the requested key, or end() if no variable is present with this key.

◆ find() [2/2]

const_iterator gtsam::VectorValues::find ( Key j ) const

inline

Return the iterator corresponding to the requested key, or end() if no variable is present with this key.

◆ hasSameStructure()

bool gtsam::VectorValues::hasSameStructure ( const VectorValues other ) const

Check if this VectorValues has the same structure (keys and dimensions) as another

◆ html()

std::string gtsam::VectorValues::html ( const KeyFormatter & keyFormatter = DefaultKeyFormatter ) const

Output as a html table.

Parameters

keyFormatter function that formats keys.

◆ insert() [1/3]

iterator gtsam::VectorValues::insert ( const std::pair< Key, Vector > & key_value )

Insert a vector value with key j. Throws an invalid_argument exception if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

◆ insert() [2/3]

iterator gtsam::VectorValues::insert	(	Key	j,
		const Vector &	value
	)

inline

Insert a vector value with key j. Throws an invalid_argument exception if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

◆ insert() [3/3]

VectorValues& gtsam::VectorValues::insert ( const VectorValues & values )

Insert all values from values. Throws an invalid_argument exception if any keys to be inserted are already used.

◆ insert_or_assign()

void gtsam::VectorValues::insert_or_assign	(	Key	j,
		const Vector &	value
	)

inline

insert_or_assign that mimics the STL map insert_or_assign - if the value already exists, the map is updated, otherwise a new value is inserted at j.

◆ norm()

double gtsam::VectorValues::norm ( ) const

Vector L2 norm

◆ operator*=()

VectorValues& gtsam::VectorValues::operator*= ( double alpha )

Element-wise scaling by a constant in-place.

◆ operator+()

VectorValues gtsam::VectorValues::operator+ ( const VectorValues & c ) const

Element-wise addition, synonym for add(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator+=()

VectorValues& gtsam::VectorValues::operator+= ( const VectorValues & c )

Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator-()

VectorValues gtsam::VectorValues::operator- ( const VectorValues & c ) const

Element-wise subtraction, synonym for subtract(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator[]() [1/2]

Vector& gtsam::VectorValues::operator[] ( Key j )

inline

Read/write access to the vector value with key j, throws std::out_of_range if j does not exist, identical to at(Key).

◆ operator[]() [2/2]

const Vector& gtsam::VectorValues::operator[] ( Key j ) const

inline

Access the vector value with key j (const version), throws std::out_of_range if j does not exist, identical to at(Key).

◆ print()

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

print required by Testable for unit testing

◆ scale()

VectorValues gtsam::VectorValues::scale ( const double a ) const

Element-wise scaling by a constant.

◆ scaleInPlace()

VectorValues& gtsam::VectorValues::scaleInPlace ( double alpha )

Element-wise scaling by a constant in-place.

◆ setZero()

void gtsam::VectorValues::setZero ( )

Set all values to zero vectors.

◆ size()

size_t gtsam::VectorValues::size ( ) const

inline

Number of variables stored.

◆ squaredNorm()

double gtsam::VectorValues::squaredNorm ( ) const

Squared vector L2 norm

◆ subtract()

VectorValues gtsam::VectorValues::subtract ( const VectorValues & c ) const

Element-wise subtraction, synonym for operator-(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ swap()

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

Swap the data in this VectorValues with another.

◆ tryInsert()

std::pair<iterator, bool> gtsam::VectorValues::tryInsert	(	Key	j,
		const Vector &	value
	)

inline

insert that mimics the STL map insert - if the value already exists, the map is not modified and an iterator to the existing value is returned, along with 'false'. If the value did not exist, it is inserted and an iterator pointing to the new element, along with 'true', is returned.

◆ update()

VectorValues& gtsam::VectorValues::update ( const VectorValues & values )

For all key/value pairs in values, replace values with corresponding keys in this class with those in values. Throws std::out_of_range if any keys in values are not present in this class.

◆ vector() [1/3]

Vector gtsam::VectorValues::vector ( ) const

Retrieve the entire solution as a single vector

◆ vector() [2/3]

template<typename CONTAINER >

Vector gtsam::VectorValues::vector ( const CONTAINER & keys ) const

inline

Access a vector that is a subset of relevant keys.

◆ vector() [3/3]

Vector gtsam::VectorValues::vector ( const Dims & dims ) const

Access a vector that is a subset of relevant keys, dims version.

◆ Zero()

static VectorValues gtsam::VectorValues::Zero ( const VectorValues & other )

static

Create a VectorValues with the same structure as other, but filled with zeros.

Friends And Related Function Documentation

◆ operator*

GTSAM_EXPORT VectorValues operator*	(	const double	a,
		const VectorValues &	v
	)

friend

Element-wise scaling by a constant.

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/linear/VectorValues.h

Public Types

Public Member Functions

Protected Types

Protected Attributes

Standard Constructors

Standard Interface

Linear algebra operations

Detailed Description

Advanced Interface and Performance Information

Constructor & Destructor Documentation

◆ VectorValues() [1/4]

◆ VectorValues() [2/4]

◆ VectorValues() [3/4]

◆ VectorValues() [4/4]

Member Function Documentation

◆ add()

◆ addInPlace()

◆ addInPlace_()

◆ at() [1/2]

◆ at() [2/2]

◆ dim()

◆ dot()

◆ emplace()

◆ equals()

◆ erase()

◆ exists()

◆ find() [1/2]

◆ find() [2/2]

◆ hasSameStructure()

◆ html()

◆ insert() [1/3]

◆ insert() [2/3]

◆ insert() [3/3]

◆ insert_or_assign()

◆ norm()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print()

◆ scale()

◆ scaleInPlace()

◆ setZero()

◆ size()

◆ squaredNorm()

◆ subtract()

◆ swap()

◆ tryInsert()

◆ update()

◆ vector() [1/3]

◆ vector() [2/3]

◆ vector() [3/3]

◆ Zero()

Friends And Related Function Documentation

◆ operator*