#include <Constraint.h>

Inheritance diagram for gtsam::Constraint:

[legend]

Public Types
typedef std::shared_ptr< Constraint >	shared_ptr

Public Types inherited from gtsam::DiscreteFactor
typedef Factor	Base
	Our base class. More...

using	Binary = std::function< double(const double, const double)>

typedef std::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class More...

typedef DiscreteFactor	This
	This class. More...

using	Unary = std::function< double(const double &)>

using	UnaryAssignment = std::function< double(const Assignment< Key > &, const double &)>

using	Values = DiscreteValues
	backwards compatibility More...

using	Names = DiscreteValues::Names
	Translation table from values to strings. 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
	Constraint ()
	Default constructor for I/O. More...

	~Constraint () override
	Virtual destructor. More...

Standard Interface
virtual bool	ensureArcConsistency (Key j, Domains *domains) const =0

virtual shared_ptr	partiallyApply (const DiscreteValues &) const =0
	Partially apply known values. More...

virtual shared_ptr	partiallyApply (const Domains &) const =0
	Partially apply known values, domain version. More...

DiscreteFactor::shared_ptr	multiply (const DiscreteFactor::shared_ptr &df) const override
	Multiply factors, DiscreteFactor::shared_ptr edition. More...

virtual DiscreteFactor::shared_ptr	operator* (double s) const override
	Multiply by a scalar. More...

DecisionTreeFactor	operator* (const DecisionTreeFactor &dtf) const override
	Multiply by a DecisionTreeFactor and return a DecisionTreeFactor. More...

DiscreteFactor::shared_ptr	operator/ (const DiscreteFactor::shared_ptr &df) const override
	divide by DiscreteFactor::shared_ptr f (safely) More...

uint64_t	nrValues () const override
	Get the number of non-zero values contained in this factor. More...

DiscreteFactor::shared_ptr	sum (size_t nrFrontals) const override
	Create new factor by summing all values with the same separator values. More...

DiscreteFactor::shared_ptr	sum (const Ordering &keys) const override
	Create new factor by summing all values with the same separator values. More...

double	max () const override
	Find the max value. More...

DiscreteFactor::shared_ptr	max (size_t nrFrontals) const override
	Create new factor by maximizing over all values with the same separator. More...

DiscreteFactor::shared_ptr	max (const Ordering &keys) const override
	Create new factor by maximizing over all values with the same separator. More...

AlgebraicDecisionTree< Key >	errorTree () const override
	Compute error for each assignment and return as a tree. More...

DiscreteFactor::shared_ptr	restrict (const DiscreteValues &assignment) const override
	Compute error for each assignment and return as a tree. More...

Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as markdown table. More...

std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as html table. More...

Public Member Functions inherited from gtsam::DiscreteFactor
	DiscreteFactor ()

template<typename CONTAINER >
	DiscreteFactor (const CONTAINER &keys, const std::map< Key, size_t > cardinalities={})

virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const
	equals More...

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

DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor. More...

std::map< Key, size_t >	cardinalities () const

size_t	cardinality (Key j) const

virtual double	evaluate (const Assignment< Key > &values) const =0
	Calculate probability for given values. Calls specialized evaluation under the hood. More...

double	operator() (const DiscreteValues &values) const
	Find value for given assignment of values to variables. More...

virtual double	error (const DiscreteValues &values) const
	Error is just -log(value) More...

double	error (const HybridValues &c) const override

virtual DecisionTreeFactor	toDecisionTreeFactor () const =0

DiscreteFactor::shared_ptr	scale () const
	Scale the factor values by the maximum to prevent underflow/overflow. 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 ()

Protected Member Functions
	Constraint (const KeyVector &js)
	Construct n-way constraint factor. More...

	Constraint (Key j)
	Construct unary constraint factor. More...

	Constraint (Key j1, Key j2)
	Construct binary constraint factor. More...

template<class KeyIterator >
	Constraint (KeyIterator beginKey, KeyIterator endKey)
	construct from container More...

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

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

Additional Inherited Members
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::DiscreteFactor
std::map< Key, size_t >	cardinalities_
	Map of Keys and their cardinalities. More...

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Base class for constraint factors Derived classes include SingleValue, BinaryAllDiff, and AllDiff.

Definition at line 35 of file Constraint.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<Constraint> gtsam::Constraint::shared_ptr

Definition at line 37 of file Constraint.h.

Constructor & Destructor Documentation

◆ Constraint() [1/5]

gtsam::Constraint::Constraint ( Key j )

inlineprotected

Construct unary constraint factor.

Definition at line 41 of file Constraint.h.

◆ Constraint() [2/5]

gtsam::Constraint::Constraint	(	Key	j1,
		Key	j2
	)

inlineprotected

Construct binary constraint factor.

Definition at line 44 of file Constraint.h.

◆ Constraint() [3/5]

gtsam::Constraint::Constraint ( const KeyVector & js )

inlineprotected

Construct n-way constraint factor.

Definition at line 47 of file Constraint.h.

◆ Constraint() [4/5]

template<class KeyIterator >

gtsam::Constraint::Constraint	(	KeyIterator	beginKey,
		KeyIterator	endKey
	)

inlineprotected

construct from container

Definition at line 51 of file Constraint.h.

◆ Constraint() [5/5]

gtsam::Constraint::Constraint ( )

Default constructor for I/O.

◆ ~Constraint()

gtsam::Constraint::~Constraint ( )

inlineoverride

Virtual destructor.

Definition at line 62 of file Constraint.h.

Member Function Documentation

◆ ensureArcConsistency()

virtual bool gtsam::Constraint::ensureArcConsistency	(	Key	j,
		Domains *	domains
	)		const

pure virtual

Implemented in gtsam::Domain, gtsam::BinaryAllDiff, gtsam::SingleValue, and gtsam::AllDiff.

◆ errorTree()

AlgebraicDecisionTree<Key> gtsam::Constraint::errorTree ( ) const

inlineoverridevirtual

Compute error for each assignment and return as a tree.

Reimplemented from gtsam::DiscreteFactor.

Definition at line 129 of file Constraint.h.

◆ html()

std::string gtsam::Constraint::html	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

inlineoverridevirtual

Render as html table.

Implements gtsam::DiscreteFactor.

Definition at line 150 of file Constraint.h.

◆ markdown()

std::string gtsam::Constraint::markdown	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

inlineoverridevirtual

Render as markdown table.

Implements gtsam::DiscreteFactor.

Definition at line 144 of file Constraint.h.

◆ max() [1/3]

double gtsam::Constraint::max ( ) const

inlineoverridevirtual

Find the max value.

Implements gtsam::DiscreteFactor.

Definition at line 118 of file Constraint.h.

◆ max() [2/3]

DiscreteFactor::shared_ptr gtsam::Constraint::max ( const Ordering & keys ) const

inlineoverridevirtual

Create new factor by maximizing over all values with the same separator.

Implements gtsam::DiscreteFactor.

Definition at line 124 of file Constraint.h.

◆ max() [3/3]

DiscreteFactor::shared_ptr gtsam::Constraint::max ( size_t nrFrontals ) const

inlineoverridevirtual

Create new factor by maximizing over all values with the same separator.

Implements gtsam::DiscreteFactor.

Definition at line 120 of file Constraint.h.

◆ multiply()

DiscreteFactor::shared_ptr gtsam::Constraint::multiply ( const DiscreteFactor::shared_ptr & df ) const

inlineoverridevirtual

Multiply factors, DiscreteFactor::shared_ptr edition.

Implements gtsam::DiscreteFactor.

Definition at line 84 of file Constraint.h.

◆ nrValues()

uint64_t gtsam::Constraint::nrValues ( ) const

inlineoverridevirtual

Get the number of non-zero values contained in this factor.

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::Domain.

Definition at line 107 of file Constraint.h.

◆ operator*() [1/2]

DecisionTreeFactor gtsam::Constraint::operator* ( const DecisionTreeFactor & dtf ) const

inlineoverridevirtual

Multiply by a DecisionTreeFactor and return a DecisionTreeFactor.

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::Domain, and gtsam::SingleValue.

Definition at line 96 of file Constraint.h.

◆ operator*() [2/2]

virtual DiscreteFactor::shared_ptr gtsam::Constraint::operator* ( double s ) const

inlineoverridevirtual

Multiply by a scalar.

Implements gtsam::DiscreteFactor.

Definition at line 91 of file Constraint.h.

◆ operator/()

DiscreteFactor::shared_ptr gtsam::Constraint::operator/ ( const DiscreteFactor::shared_ptr & df ) const

inlineoverridevirtual

divide by DiscreteFactor::shared_ptr f (safely)

Implements gtsam::DiscreteFactor.

Definition at line 101 of file Constraint.h.

◆ partiallyApply() [1/2]

virtual shared_ptr gtsam::Constraint::partiallyApply ( const DiscreteValues & ) const

pure virtual

Partially apply known values.

Implemented in gtsam::Domain, gtsam::SingleValue, gtsam::BinaryAllDiff, and gtsam::AllDiff.

◆ partiallyApply() [2/2]

virtual shared_ptr gtsam::Constraint::partiallyApply ( const Domains & ) const

pure virtual

Partially apply known values, domain version.

Implemented in gtsam::Domain, gtsam::SingleValue, gtsam::BinaryAllDiff, and gtsam::AllDiff.

◆ restrict()

DiscreteFactor::shared_ptr gtsam::Constraint::restrict ( const DiscreteValues & assignment ) const

inlineoverridevirtual

Compute error for each assignment and return as a tree.

Implements gtsam::DiscreteFactor.

Definition at line 134 of file Constraint.h.

◆ sum() [1/2]

DiscreteFactor::shared_ptr gtsam::Constraint::sum ( const Ordering & keys ) const

inlineoverridevirtual

Create new factor by summing all values with the same separator values.

Implements gtsam::DiscreteFactor.

Definition at line 113 of file Constraint.h.

◆ sum() [2/2]

DiscreteFactor::shared_ptr gtsam::Constraint::sum ( size_t nrFrontals ) const

inlineoverridevirtual

Create new factor by summing all values with the same separator values.

Implements gtsam::DiscreteFactor.

Definition at line 109 of file Constraint.h.

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

Constraint.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Constraint() [1/5]

◆ Constraint() [2/5]

◆ Constraint() [3/5]

◆ Constraint() [4/5]

◆ Constraint() [5/5]

◆ ~Constraint()

Member Function Documentation

◆ ensureArcConsistency()

◆ errorTree()

◆ html()

◆ markdown()

◆ max() [1/3]

◆ max() [2/3]

◆ max() [3/3]

◆ multiply()

◆ nrValues()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/()

◆ partiallyApply() [1/2]

◆ partiallyApply() [2/2]

◆ restrict()

◆ sum() [1/2]

◆ sum() [2/2]