#include <HybridFactor.h>

Inheritance diagram for gtsam::HybridFactor:

[legend]

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
	Compute tree of linear errors. More...

virtual std::shared_ptr< Factor >	restrict (const DiscreteValues &discreteValues) const =0
	Restrict the factor to the given discrete values. 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)

Detailed Description

Base class for truly hybrid probabilistic factors

Examples:

a mixture of Gaussian and discrete distributions over a set of variables.

Symbolic factors, used to represent a graph structure, such as

Definition at line 51 of file HybridFactor.h.

Member Typedef Documentation

◆ Base

typedef Factor gtsam::HybridFactor::Base

Our base class.

Definition at line 71 of file HybridFactor.h.

◆ shared_ptr

typedef std::shared_ptr<HybridFactor> gtsam::HybridFactor::shared_ptr

shared_ptr to this class

Definition at line 70 of file HybridFactor.h.

◆ This

typedef HybridFactor gtsam::HybridFactor::This

This class.

Definition at line 68 of file HybridFactor.h.

Member Enumeration Documentation

◆ Category

enum gtsam::HybridFactor::Category

strong

Enum to help with categorizing hybrid factors.

Enumerator
None
Discrete
Continuous
Hybrid

Definition at line 54 of file HybridFactor.h.

Constructor & Destructor Documentation

◆ HybridFactor() [1/4]

gtsam::HybridFactor::HybridFactor ( )

default

Default constructor creates empty factor

◆ HybridFactor() [2/4]

gtsam::HybridFactor::HybridFactor ( const KeyVector & keys )

explicit

Construct hybrid factor from continuous keys.

Parameters

keys	Vector of continuous keys.

Definition at line 54 of file HybridFactor.cpp.

◆ HybridFactor() [3/4]

gtsam::HybridFactor::HybridFactor ( const DiscreteKeys & discreteKeys )

explicit

Construct hybrid factor from discrete keys.

Parameters

keys	Vector of discrete keys.

Definition at line 81 of file HybridFactor.cpp.

◆ HybridFactor() [4/4]

gtsam::HybridFactor::HybridFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys
	)

Construct a new Hybrid Factor object.

Parameters

continuousKeys	Vector of keys for continuous variables.
discreteKeys	Vector of keys for discrete variables.

Definition at line 73 of file HybridFactor.cpp.

Member Function Documentation

◆ continuousKeys()

const KeyVector& gtsam::HybridFactor::continuousKeys ( ) const

inline

Return only the continuous keys for this factor.

Definition at line 134 of file HybridFactor.h.

◆ discreteKeys()

const DiscreteKeys& gtsam::HybridFactor::discreteKeys ( ) const

inline

Return the discrete keys for this factor.

Definition at line 131 of file HybridFactor.h.

◆ equals()

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

virtual

equals

Reimplemented in gtsam::HybridNonlinearFactor, gtsam::HybridConditional, gtsam::HybridGaussianConditional, and gtsam::HybridGaussianFactor.

Definition at line 88 of file HybridFactor.cpp.

◆ errorTree()

virtual AlgebraicDecisionTree<Key> gtsam::HybridFactor::errorTree ( const VectorValues & values ) const

pure virtual

Compute tree of linear errors.

Implemented in gtsam::HybridConditional, gtsam::HybridGaussianFactor, and gtsam::HybridNonlinearFactor.

◆ isContinuous()

bool gtsam::HybridFactor::isContinuous ( ) const

inline

True if this is a factor of continuous variables only.

Definition at line 122 of file HybridFactor.h.

◆ isDiscrete()

bool gtsam::HybridFactor::isDiscrete ( ) const

inline

True if this is a factor of discrete variables only.

Definition at line 119 of file HybridFactor.h.

◆ isHybrid()

bool gtsam::HybridFactor::isHybrid ( ) const

inline

True is this is a Discrete-Continuous factor.

Definition at line 125 of file HybridFactor.h.

◆ nrContinuous()

size_t gtsam::HybridFactor::nrContinuous ( ) const

inline

Return the number of continuous variables in this factor.

Definition at line 128 of file HybridFactor.h.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::HybridGaussianConditional, gtsam::HybridNonlinearFactor, and gtsam::HybridGaussianFactor.

Definition at line 96 of file HybridFactor.cpp.

◆ restrict()

virtual std::shared_ptr<Factor> gtsam::HybridFactor::restrict ( const DiscreteValues & discreteValues ) const

pure virtual

Restrict the factor to the given discrete values.

Implemented in gtsam::HybridGaussianConditional, gtsam::HybridGaussianFactor, gtsam::HybridConditional, and gtsam::HybridNonlinearFactor.

Member Data Documentation

◆ category_

Category gtsam::HybridFactor::category_ = Category::None

private

Record what category of HybridFactor this is.

Definition at line 58 of file HybridFactor.h.

◆ continuousKeys_

KeyVector gtsam::HybridFactor::continuousKeys_

protected

Record continuous keys for book-keeping.

Definition at line 64 of file HybridFactor.h.

◆ discreteKeys_

DiscreteKeys gtsam::HybridFactor::discreteKeys_

protected

Definition at line 62 of file HybridFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Member Enumeration Documentation

◆ Category

Constructor & Destructor Documentation

◆ HybridFactor() [1/4]

◆ HybridFactor() [2/4]

◆ HybridFactor() [3/4]

◆ HybridFactor() [4/4]

Member Function Documentation

◆ continuousKeys()

◆ discreteKeys()

◆ equals()

◆ errorTree()

◆ isContinuous()

◆ isDiscrete()

◆ isHybrid()

◆ nrContinuous()

◆ print()

◆ restrict()

Member Data Documentation

◆ category_

◆ continuousKeys_

◆ discreteKeys_