#include <DiscreteFactorGraph.h>

Inheritance diagram for gtsam::DiscreteFactorGraph:

[legend]

Public Types
typedef FactorGraph< DiscreteFactor >	Base
	Typedef to base factor graph type. More...

typedef EliminateableFactorGraph< This >	BaseEliminateable
	Typedef to base elimination class. More...

typedef KeyVector	Indices

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef boost::shared_ptr< Values >	sharedValues

typedef DiscreteFactorGraph	This
	Typedef to this class. More...

typedef Assignment< Key >	Values

Public Types inherited from gtsam::FactorGraph< DiscreteFactor >
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef DiscreteFactor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef boost::shared_ptr< DiscreteFactor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Types inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
typedef EliminationTraitsType::BayesNetType	BayesNetType
	Bayes net type produced by sequential elimination. More...

typedef EliminationTraitsType::BayesTreeType	BayesTreeType
	Bayes tree type produced by multifrontal elimination. More...

typedef EliminationTraitsType::ConditionalType	ConditionalType
	Conditional type stored in the Bayes net produced by elimination. More...

typedef boost::function< EliminationResult(const FactorGraphType &, const Ordering &)>	Eliminate
	The function type that does a single dense elimination step on a subgraph. More...

typedef std::pair< boost::shared_ptr< ConditionalType >, boost::shared_ptr< _FactorType > >	EliminationResult

typedef EliminationTraits< FactorGraphType >	EliminationTraitsType
	Typedef to the specific EliminationTraits for this graph. More...

typedef EliminationTraitsType::EliminationTreeType	EliminationTreeType
	Elimination tree type that can do sequential elimination of this graph. More...

typedef EliminationTraitsType::JunctionTreeType	JunctionTreeType
	Junction tree type that can do multifrontal elimination of this graph. More...

typedef boost::optional< Ordering::OrderingType >	OptionalOrderingType
	Typedef for an optional ordering type. More...

typedef boost::optional< const VariableIndex & >	OptionalVariableIndex
	Typedef for an optional variable index as an argument to elimination functions. More...

Public Member Functions
template<class SOURCE >
void	add (const DiscreteKey &j, SOURCE table)

template<class SOURCE >
void	add (const DiscreteKey &j1, const DiscreteKey &j2, SOURCE table)

template<class SOURCE >
void	add (const DiscreteKeys &keys, SOURCE table)

	DiscreteFactorGraph ()

template<typename ITERATOR >
	DiscreteFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

template<class CONTAINER >
	DiscreteFactorGraph (const CONTAINER &factors)

template<class DERIVEDFACTOR >
	DiscreteFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

KeySet	keys () const

double	operator() (const DiscreteFactor::Values &values) const

DiscreteFactor::sharedValues	optimize () const

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

DecisionTreeFactor	product () const

virtual	~DiscreteFactorGraph ()
	Destructor. More...

Testable
bool	equals (const This &fg, double tol=1e-9) const

Public Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
virtual	~FactorGraph ()=default
	Default destructor. More...

void	reserve (size_t size)

IsDerived< DERIVEDFACTOR >	push_back (boost::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr. More...

IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&...args)
	Emplace a shared pointer to factor of given type. More...

IsDerived< DERIVEDFACTOR >	add (boost::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type	operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)
	`+=` works well with boost::assign list inserter. More...

HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied) More...

HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied). More...

void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

boost::assign::list_inserter< CRefCallPushBack< This > >	operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)

std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

bool	equals (const This &fg, double tol=1e-9) const

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

const sharedFactor	operator[] (size_t i) const

sharedFactor &	operator[] (size_t i)

const_iterator	begin () const

const_iterator	end () const

sharedFactor	front () const

sharedFactor	back () const

iterator	begin ()

iterator	end ()

void	resize (size_t size)

void	remove (size_t i)

void	replace (size_t index, sharedFactor factor)

iterator	erase (iterator item)

iterator	erase (iterator first, iterator last)

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Public Member Functions inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
boost::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function, OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const

boost::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Eliminate &function, OptionalVariableIndex variableIndex=boost::none, OptionalOrderingType orderingType=boost::none) const

std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function, OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const

boost::shared_ptr< BayesNetType >	eliminateSequential (const Eliminate &function, OptionalVariableIndex variableIndex=boost::none, OptionalOrderingType orderingType=boost::none) const

boost::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, boost::none_t, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

boost::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, boost::none_t, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const

Additional Inherited Members
Protected Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

Protected Attributes inherited from gtsam::FactorGraph< DiscreteFactor >
FastVector< sharedFactor >	factors_

Detailed Description

A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e. Factor == DiscreteFactor

Definition at line 65 of file DiscreteFactorGraph.h.

Member Typedef Documentation

typedef FactorGraph<DiscreteFactor> gtsam::DiscreteFactorGraph::Base

Typedef to base factor graph type.

Definition at line 70 of file DiscreteFactorGraph.h.

typedef EliminateableFactorGraph<This> gtsam::DiscreteFactorGraph::BaseEliminateable

Typedef to base elimination class.

Definition at line 71 of file DiscreteFactorGraph.h.

typedef KeyVector gtsam::DiscreteFactorGraph::Indices

A map from keys to values

Definition at line 75 of file DiscreteFactorGraph.h.

typedef boost::shared_ptr<This> gtsam::DiscreteFactorGraph::shared_ptr

shared_ptr to this class

Definition at line 72 of file DiscreteFactorGraph.h.

typedef boost::shared_ptr<Values> gtsam::DiscreteFactorGraph::sharedValues

Definition at line 77 of file DiscreteFactorGraph.h.

typedef DiscreteFactorGraph gtsam::DiscreteFactorGraph::This

Typedef to this class.

Definition at line 69 of file DiscreteFactorGraph.h.

typedef Assignment<Key> gtsam::DiscreteFactorGraph::Values

Definition at line 76 of file DiscreteFactorGraph.h.

Constructor & Destructor Documentation

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( )

inline

Default constructor

Definition at line 80 of file DiscreteFactorGraph.h.

template<typename ITERATOR >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Construct from iterator over factors

Definition at line 84 of file DiscreteFactorGraph.h.

template<class CONTAINER >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( const CONTAINER & factors )

inlineexplicit

Construct from container of factors (shared_ptr or plain objects)

Definition at line 88 of file DiscreteFactorGraph.h.

template<class DERIVEDFACTOR >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( const FactorGraph< DERIVEDFACTOR > & graph )

inline

Implicit copy/downcast constructor to override explicit template container constructor

Definition at line 92 of file DiscreteFactorGraph.h.

virtual gtsam::DiscreteFactorGraph::~DiscreteFactorGraph ( )

inlinevirtual

Destructor.

Definition at line 95 of file DiscreteFactorGraph.h.

Member Function Documentation

template<class SOURCE >

void gtsam::DiscreteFactorGraph::add	(	const DiscreteKey &	j,
		SOURCE	table
	)

inline

Definition at line 105 of file DiscreteFactorGraph.h.

template<class SOURCE >

void gtsam::DiscreteFactorGraph::add	(	const DiscreteKey &	j1,
		const DiscreteKey &	j2,
		SOURCE	table
	)

inline

Definition at line 112 of file DiscreteFactorGraph.h.

template<class SOURCE >

void gtsam::DiscreteFactorGraph::add	(	const DiscreteKeys &	keys,
		SOURCE	table
	)

inline

add shared discreteFactor immediately from arguments

Definition at line 121 of file DiscreteFactorGraph.h.

bool gtsam::DiscreteFactorGraph::equals	(	const This &	fg,
		double	tol = `1e-9`
	)		const

Definition at line 36 of file DiscreteFactorGraph.cpp.

KeySet gtsam::DiscreteFactorGraph::keys ( ) const

Return the set of variables involved in the factors (set union)

Definition at line 42 of file DiscreteFactorGraph.cpp.

double gtsam::DiscreteFactorGraph::operator() ( const DiscreteFactor::Values & values ) const

Evaluates the factor graph given values, returns the joint probability of the factor graph given specific instantiation of values

Definition at line 58 of file DiscreteFactorGraph.cpp.

DiscreteFactor::sharedValues gtsam::DiscreteFactorGraph::optimize ( ) const

Solve the factor graph by performing variable elimination in COLAMD order using the dense elimination function specified in function, followed by back-substitution resulting from elimination. Is equivalent to calling graph.eliminateSequential()->optimize().

Definition at line 97 of file DiscreteFactorGraph.cpp.

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

overridevirtual

print

Reimplemented from gtsam::FactorGraph< DiscreteFactor >.

Reimplemented in gtsam::Scheduler.

Definition at line 67 of file DiscreteFactorGraph.cpp.

DecisionTreeFactor gtsam::DiscreteFactorGraph::product ( ) const

return product of all factors as a single factor

Definition at line 50 of file DiscreteFactorGraph.cpp.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation