Implementation of a discrete-conditioned hybrid factor. Implements a joint discrete-continuous factor where the discrete variable serves to "select" a component corresponding to a GaussianFactor. More...

#include <HybridGaussianFactor.h>

Inheritance diagram for gtsam::HybridGaussianFactor:

[legend]

Public Types
using	Base = HybridFactor

using	Factors = DecisionTree< Key, sharedFactor >
	typedef for Decision Tree of Gaussian factors. More...

using	FactorValuePairs = DecisionTree< Key, GaussianFactorValuePair >
	typedef for Decision Tree of Gaussian factors and arbitrary value. More...

using	shared_ptr = std::shared_ptr< This >

using	sharedFactor = std::shared_ptr< GaussianFactor >

using	This = HybridGaussianFactor

Public Types inherited from gtsam::HybridFactor
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
Constructors
	HybridGaussianFactor ()=default
	Default constructor, mainly for serialization. More...

	HybridGaussianFactor (const KeyVector &continuousKeys, const DiscreteKey &discreteKey, const std::vector< GaussianFactor::shared_ptr > &factors)
	Construct a new HybridGaussianFactor on a single discrete key, providing the factors for each mode m as a vector of factors ϕ_m(x). The value ϕ(x,m) for the factor is simply ϕ_m(x). More...

	HybridGaussianFactor (const KeyVector &continuousKeys, const DiscreteKey &discreteKey, const std::vector< GaussianFactorValuePair > &factors)
	Construct a new HybridGaussianFactor on a single discrete key, including a scalar error value for each mode m. The factors and scalars are provided as a vector of pairs (ϕ_m(x), E_m). The value ϕ(x,m) for the factor is now ϕ_m(x) + E_m. More...

	HybridGaussianFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, const FactorValuePairs &factors)
	Construct a new HybridGaussianFactor on a several discrete keys M, including a scalar error value for each assignment m. The factors and scalars are provided as a DecisionTree<Key> of pairs (ϕ_M(x), E_M). The value ϕ(x,M) for the factor is again ϕ_m(x) + E_m. More...

Testable
bool	equals (const HybridFactor &lf, double tol=1e-9) const override
	equals More...

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

Public Member Functions inherited from gtsam::HybridFactor
	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...

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...

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

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 ()

Private Member Functions
GaussianFactorGraphTree	asGaussianFactorGraphTree () const
	Helper function to return factors and functional to create a DecisionTree of Gaussian Factor Graphs. More...

double	potentiallyPrunedComponentError (const sharedFactor &gf, const VectorValues &continuousValues) const
	Helper method to compute the error of a component. More...

Private Attributes
Factors	factors_
	Decision tree of Gaussian factors indexed by discrete keys. More...

Standard API
sharedFactor	operator() (const DiscreteValues &assignment) const
	Get factor at a given discrete assignment. More...

GaussianFactorGraphTree	add (const GaussianFactorGraphTree &sum) const
	Combine the Gaussian Factor Graphs in `sum` and `this` while maintaining the original tree structure. More...

AlgebraicDecisionTree< Key >	errorTree (const VectorValues &continuousValues) const override
	Compute error of the HybridGaussianFactor as a tree. More...

double	error (const HybridValues &values) const override
	Compute the log-likelihood, including the log-normalizing constant. More...

const Factors &	factors () const
	Getter for GaussianFactor decision tree. More...

GaussianFactorGraphTree &	operator+= (GaussianFactorGraphTree &sum, const HybridGaussianFactor &factor)
	Add HybridNonlinearFactor to a Sum, syntactic sugar. 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)

Protected Attributes inherited from gtsam::HybridFactor
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...

Detailed Description

Implementation of a discrete-conditioned hybrid factor. Implements a joint discrete-continuous factor where the discrete variable serves to "select" a component corresponding to a GaussianFactor.

Represents the underlying hybrid Gaussian components as a Decision Tree, where the set of discrete variables indexes to the continuous gaussian distribution.

In factor graphs the error function typically returns 0.5*|A*x - b|^2, i.e., the negative log-likelihood for a Gaussian noise model. In hybrid factor graphs we allow adding an arbitrary scalar dependent on the discrete assignment. For example, adding a 70/30 mode probability is supported by providing the scalars $-log(.7)$ and $-log(.3)$. Note that adding a common constant will not make any difference in the optimization, so $-log(70)$ and $-log(30)$ work just as well.

Definition at line 59 of file HybridGaussianFactor.h.

Member Typedef Documentation

◆ Base

using gtsam::HybridGaussianFactor::Base = HybridFactor

Definition at line 61 of file HybridGaussianFactor.h.

◆ Factors

using gtsam::HybridGaussianFactor::Factors = DecisionTree<Key, sharedFactor>

typedef for Decision Tree of Gaussian factors.

Definition at line 70 of file HybridGaussianFactor.h.

◆ FactorValuePairs

using gtsam::HybridGaussianFactor::FactorValuePairs = DecisionTree<Key, GaussianFactorValuePair>

typedef for Decision Tree of Gaussian factors and arbitrary value.

Definition at line 68 of file HybridGaussianFactor.h.

◆ shared_ptr

using gtsam::HybridGaussianFactor::shared_ptr = std::shared_ptr<This>

Definition at line 63 of file HybridGaussianFactor.h.

◆ sharedFactor

using gtsam::HybridGaussianFactor::sharedFactor = std::shared_ptr<GaussianFactor>

Definition at line 65 of file HybridGaussianFactor.h.

◆ This

using gtsam::HybridGaussianFactor::This = HybridGaussianFactor

Definition at line 62 of file HybridGaussianFactor.h.

Constructor & Destructor Documentation

◆ HybridGaussianFactor() [1/4]

gtsam::HybridGaussianFactor::HybridGaussianFactor ( )

default

Default constructor, mainly for serialization.

◆ HybridGaussianFactor() [2/4]

gtsam::HybridGaussianFactor::HybridGaussianFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKey &	discreteKey,
		const std::vector< GaussianFactor::shared_ptr > &	factors
	)

inline

Construct a new HybridGaussianFactor on a single discrete key, providing the factors for each mode m as a vector of factors ϕ_m(x). The value ϕ(x,m) for the factor is simply ϕ_m(x).

Parameters

continuousKeys	Vector of keys for continuous factors.
discreteKey	The discrete key for the "mode", indexing components.
factors	Vector of gaussian factors, one for each mode.

Definition at line 100 of file HybridGaussianFactor.h.

◆ HybridGaussianFactor() [3/4]

gtsam::HybridGaussianFactor::HybridGaussianFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKey &	discreteKey,
		const std::vector< GaussianFactorValuePair > &	factors
	)

inline

Construct a new HybridGaussianFactor on a single discrete key, including a scalar error value for each mode m. The factors and scalars are provided as a vector of pairs (ϕ_m(x), E_m). The value ϕ(x,m) for the factor is now ϕ_m(x) + E_m.

Parameters

continuousKeys	Vector of keys for continuous factors.
discreteKey	The discrete key for the "mode", indexing components.
factors	Vector of gaussian factor-scalar pairs, one per mode.

Definition at line 115 of file HybridGaussianFactor.h.

◆ HybridGaussianFactor() [4/4]

gtsam::HybridGaussianFactor::HybridGaussianFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys,
		const FactorValuePairs &	factors
	)

Construct a new HybridGaussianFactor on a several discrete keys M, including a scalar error value for each assignment m. The factors and scalars are provided as a DecisionTree<Key> of pairs (ϕ_M(x), E_M). The value ϕ(x,M) for the factor is again ϕ_m(x) + E_m.

Parameters

continuousKeys	A vector of keys representing continuous variables.
discreteKeys	Discrete variables and their cardinalities.
factors	The decision tree of Gaussian factor/scalar pairs.

Definition at line 80 of file HybridGaussianFactor.cpp.

Member Function Documentation

◆ add()

GaussianFactorGraphTree gtsam::HybridGaussianFactor::add ( const GaussianFactorGraphTree & sum ) const

Combine the Gaussian Factor Graphs in sum and this while maintaining the original tree structure.

Parameters

sum	Decision Tree of Gaussian Factor Graphs indexed by the variables.

Returns: Sum

Definition at line 135 of file HybridGaussianFactor.cpp.

◆ asGaussianFactorGraphTree()

GaussianFactorGraphTree gtsam::HybridGaussianFactor::asGaussianFactorGraphTree ( ) const

private

Helper function to return factors and functional to create a DecisionTree of Gaussian Factor Graphs.

Returns: GaussianFactorGraphTree

Definition at line 148 of file HybridGaussianFactor.cpp.

◆ equals()

bool gtsam::HybridGaussianFactor::equals	(	const HybridFactor &	lf,
		double	tol = `1e-9`
	)		const

overridevirtual

equals

Reimplemented from gtsam::HybridFactor.

Definition at line 86 of file HybridGaussianFactor.cpp.

◆ error()

double gtsam::HybridGaussianFactor::error ( const HybridValues & values ) const

overridevirtual

Compute the log-likelihood, including the log-normalizing constant.

Returns: double

Reimplemented from gtsam::Factor.

Definition at line 180 of file HybridGaussianFactor.cpp.

◆ errorTree()

AlgebraicDecisionTree< Key > gtsam::HybridGaussianFactor::errorTree ( const VectorValues & continuousValues ) const

overridevirtual

Compute error of the HybridGaussianFactor as a tree.

Parameters

continuousValues The continuous VectorValues.

Returns: AlgebraicDecisionTree<Key> A decision tree with the same keys as the factors involved, and leaf values as the error.

Implements gtsam::HybridFactor.

Definition at line 169 of file HybridGaussianFactor.cpp.

◆ factors()

const Factors& gtsam::HybridGaussianFactor::factors ( ) const

inline

Getter for GaussianFactor decision tree.

Definition at line 178 of file HybridGaussianFactor.h.

◆ operator()()

HybridGaussianFactor::sharedFactor gtsam::HybridGaussianFactor::operator() ( const DiscreteValues & assignment ) const

Get factor at a given discrete assignment.

Definition at line 129 of file HybridGaussianFactor.cpp.

◆ potentiallyPrunedComponentError()

double gtsam::HybridGaussianFactor::potentiallyPrunedComponentError	(	const sharedFactor &	gf,
		const VectorValues &	continuousValues
	)		const

private

Helper method to compute the error of a component.

Definition at line 155 of file HybridGaussianFactor.cpp.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::HybridFactor.

Definition at line 103 of file HybridGaussianFactor.cpp.

Friends And Related Function Documentation

◆ operator+=

GaussianFactorGraphTree& operator+=	(	GaussianFactorGraphTree &	sum,
		const HybridGaussianFactor &	factor
	)

friend

Add HybridNonlinearFactor to a Sum, syntactic sugar.

Definition at line 181 of file HybridGaussianFactor.h.

Member Data Documentation

◆ factors_

Factors gtsam::HybridGaussianFactor::factors_

private

Decision tree of Gaussian factors indexed by discrete keys.

Definition at line 74 of file HybridGaussianFactor.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Standard API

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Factors

◆ FactorValuePairs

◆ shared_ptr

◆ sharedFactor

◆ This

Constructor & Destructor Documentation

◆ HybridGaussianFactor() [1/4]

◆ HybridGaussianFactor() [2/4]

◆ HybridGaussianFactor() [3/4]

◆ HybridGaussianFactor() [4/4]

Member Function Documentation

◆ add()

◆ asGaussianFactorGraphTree()

◆ equals()

◆ error()

◆ errorTree()

◆ factors()

◆ operator()()

◆ potentiallyPrunedComponentError()

◆ print()

Friends And Related Function Documentation

◆ operator+=

Member Data Documentation

◆ factors_