#include <SymbolicFactor.h>
Public Types | |
typedef Factor | Base |
typedef SymbolicConditional | ConditionalType |
typedef std::shared_ptr< This > | shared_ptr |
typedef SymbolicFactor | This |
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... | |
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. More... | |
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 More... | |
void | printKeys (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print only keys More... | |
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. More... | |
std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > > | eliminate (const Ordering &keys) const |
Additional Inherited Members | |
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 |
bool | equals (const This &other, double tol=1e-9) const |
check equality More... | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
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::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
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.
Definition at line 38 of file SymbolicFactor.h.
typedef Factor gtsam::SymbolicFactor::Base |
Definition at line 43 of file SymbolicFactor.h.
Definition at line 44 of file SymbolicFactor.h.
typedef std::shared_ptr<This> gtsam::SymbolicFactor::shared_ptr |
Overriding the shared_ptr typedef
Definition at line 47 of file SymbolicFactor.h.
Definition at line 42 of file SymbolicFactor.h.
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inline |
Default constructor for I/O
Definition at line 53 of file SymbolicFactor.h.
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inlineexplicit |
Construct unary factor
Definition at line 56 of file SymbolicFactor.h.
Construct binary factor
Definition at line 60 of file SymbolicFactor.h.
Construct ternary factor
Definition at line 64 of file SymbolicFactor.h.
Construct 4-way factor
Definition at line 68 of file SymbolicFactor.h.
Construct 5-way factor
Definition at line 72 of file SymbolicFactor.h.
Construct 6-way factor
Definition at line 76 of file SymbolicFactor.h.
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inlineexplicit |
Create symbolic version of any factor
Definition at line 80 of file SymbolicFactor.h.
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inline |
Copy this object as its actual derived type.
Definition at line 83 of file SymbolicFactor.h.
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.
Definition at line 49 of file SymbolicFactor.cpp.
Definition at line 42 of file SymbolicFactor.cpp.
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overridevirtual |
The error
method throws an exception.
Reimplemented from gtsam::Factor.
Definition at line 30 of file SymbolicFactor.cpp.
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inlinestatic |
Constructor from a collection of keys
Definition at line 112 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys
Definition at line 118 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of
Definition at line 127 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of
Definition at line 134 of file SymbolicFactor.h.
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inlineoverridevirtual |
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inlineoverridevirtual |