#include <HybridFactor.h>
Public Types | |
typedef Factor | Base |
Our base class. More... | |
enum | Category { Category::None, Category::Discrete, Category::Continuous, Category::Hybrid } |
Enum to help with categorizing hybrid factors. More... | |
typedef std::shared_ptr< HybridFactor > | shared_ptr |
shared_ptr to this class More... | |
typedef HybridFactor | This |
This class. More... | |
Public Types inherited from gtsam::Factor | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. More... | |
typedef KeyVector::iterator | iterator |
Iterator over keys. More... | |
Public Member Functions | |
Standard Constructors | |
HybridFactor ()=default | |
HybridFactor (const KeyVector &keys) | |
Construct hybrid factor from continuous keys. More... | |
HybridFactor (const DiscreteKeys &discreteKeys) | |
Construct hybrid factor from discrete keys. More... | |
HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) | |
Construct a new Hybrid Factor object. More... | |
Testable | |
virtual bool | equals (const HybridFactor &lf, double tol=1e-9) const |
equals More... | |
void | print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
Standard Interface | |
bool | isDiscrete () const |
True if this is a factor of discrete variables only. More... | |
bool | isContinuous () const |
True if this is a factor of continuous variables only. More... | |
bool | isHybrid () const |
True is this is a Discrete-Continuous factor. More... | |
size_t | nrContinuous () const |
Return the number of continuous variables in this factor. More... | |
const DiscreteKeys & | discreteKeys () const |
Return the discrete keys for this factor. More... | |
const KeyVector & | continuousKeys () const |
Return only the continuous keys for this factor. More... | |
virtual AlgebraicDecisionTree< Key > | errorTree (const VectorValues &values) const =0 |
Virtual class to compute tree of linear errors. More... | |
Public Member Functions inherited from gtsam::Factor | |
virtual | ~Factor ()=default |
Default destructor. More... | |
bool | empty () const |
Whether the factor is empty (involves zero variables). More... | |
Key | front () const |
First key. More... | |
Key | back () const |
Last key. More... | |
const_iterator | find (Key key) const |
find More... | |
const KeyVector & | keys () const |
Access the factor's involved variable keys. More... | |
const_iterator | begin () const |
const_iterator | end () const |
virtual double | error (const HybridValues &c) const |
size_t | size () const |
virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print only keys More... | |
bool | equals (const This &other, double tol=1e-9) const |
check equality More... | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
Protected Attributes | |
KeyVector | continuousKeys_ |
Record continuous keys for book-keeping. More... | |
DiscreteKeys | discreteKeys_ |
Protected Attributes inherited from gtsam::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
Private Attributes | |
Category | category_ = Category::None |
Record what category of HybridFactor this is. More... | |
Additional Inherited Members | |
Protected Member Functions inherited from gtsam::Factor | |
Factor () | |
template<typename CONTAINER > | |
Factor (const CONTAINER &keys) | |
template<typename ITERATOR > | |
Factor (ITERATOR first, ITERATOR last) | |
Static Protected Member Functions inherited from gtsam::Factor | |
template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
Base class for truly hybrid probabilistic factors
Examples:
a mixture of Gaussian and discrete distributions over a set of variables.
Definition at line 51 of file HybridFactor.h.
typedef Factor gtsam::HybridFactor::Base |
Our base class.
Definition at line 71 of file HybridFactor.h.
typedef std::shared_ptr<HybridFactor> gtsam::HybridFactor::shared_ptr |
shared_ptr to this class
Definition at line 70 of file HybridFactor.h.
This class.
Definition at line 68 of file HybridFactor.h.
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strong |
Enum to help with categorizing hybrid factors.
Enumerator | |
---|---|
None | |
Discrete | |
Continuous | |
Hybrid |
Definition at line 54 of file HybridFactor.h.
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default |
Default constructor creates empty factor
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explicit |
Construct hybrid factor from continuous keys.
keys | Vector of continuous keys. |
Definition at line 52 of file HybridFactor.cpp.
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explicit |
Construct hybrid factor from discrete keys.
keys | Vector of discrete keys. |
Definition at line 79 of file HybridFactor.cpp.
gtsam::HybridFactor::HybridFactor | ( | const KeyVector & | continuousKeys, |
const DiscreteKeys & | discreteKeys | ||
) |
Construct a new Hybrid Factor object.
continuousKeys | Vector of keys for continuous variables. |
discreteKeys | Vector of keys for discrete variables. |
Definition at line 71 of file HybridFactor.cpp.
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inline |
Return only the continuous keys for this factor.
Definition at line 134 of file HybridFactor.h.
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inline |
Return the discrete keys for this factor.
Definition at line 131 of file HybridFactor.h.
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virtual |
equals
Reimplemented in gtsam::HybridNonlinearFactor, gtsam::HybridConditional, gtsam::HybridGaussianConditional, and gtsam::HybridGaussianFactor.
Definition at line 86 of file HybridFactor.cpp.
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pure virtual |
Virtual class to compute tree of linear errors.
Implemented in gtsam::HybridConditional, gtsam::HybridGaussianFactor, and gtsam::HybridNonlinearFactor.
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inline |
True if this is a factor of continuous variables only.
Definition at line 122 of file HybridFactor.h.
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inline |
True if this is a factor of discrete variables only.
Definition at line 119 of file HybridFactor.h.
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inline |
True is this is a Discrete-Continuous factor.
Definition at line 125 of file HybridFactor.h.
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inline |
Return the number of continuous variables in this factor.
Definition at line 128 of file HybridFactor.h.
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overridevirtual |
Reimplemented from gtsam::Factor.
Reimplemented in gtsam::HybridGaussianConditional, gtsam::HybridNonlinearFactor, and gtsam::HybridGaussianFactor.
Definition at line 94 of file HybridFactor.cpp.
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private |
Record what category of HybridFactor this is.
Definition at line 58 of file HybridFactor.h.
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protected |
Record continuous keys for book-keeping.
Definition at line 64 of file HybridFactor.h.
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protected |
Definition at line 62 of file HybridFactor.h.