Public Types | Public Member Functions | Public Attributes | List of all members
gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique > Class Template Reference

Class for Hybrid Bayes tree orphan subtrees. More...

#include <HybridBayesTree.h>

Inheritance diagram for gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >:
Inheritance graph
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Public Types

typedef HybridConditional Base
 
typedef HybridBayesTreeClique CliqueType
 
- Public Types inherited from gtsam::HybridConditional
typedef Conditional< BaseFactor, ThisBaseConditional
 Typedef to our conditional base class. More...
 
typedef HybridFactor BaseFactor
 Typedef to our factor base class. More...
 
typedef std::shared_ptr< Thisshared_ptr
 shared_ptr to this class More...
 
typedef HybridConditional This
 Typedef to this class. More...
 
- Public Types inherited from gtsam::HybridFactor
typedef Factor Base
 Our base class. More...
 
typedef std::shared_ptr< HybridFactorshared_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 Types inherited from gtsam::Conditional< HybridFactor, HybridConditional >
typedef std::pair< typename HybridFactor ::const_iterator, typename HybridFactor ::const_iterator > ConstFactorRange
 
typedef ConstFactorRangeIterator Frontals
 
typedef ConstFactorRangeIterator Parents
 

Public Member Functions

 BayesTreeOrphanWrapper (const std::shared_ptr< CliqueType > &clique)
 Construct a new Bayes Tree Orphan Wrapper object. More...
 
void print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print utility More...
 
- Public Member Functions inherited from gtsam::HybridConditional
 HybridConditional ()=default
 Default constructor needed for serialization. More...
 
 HybridConditional (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, size_t nFrontals)
 Construct a new Hybrid Conditional object. More...
 
 HybridConditional (const KeyVector &continuousFrontals, const DiscreteKeys &discreteFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents)
 Construct a new Hybrid Conditional object. More...
 
 HybridConditional (const std::shared_ptr< GaussianConditional > &continuousConditional)
 Construct a new Hybrid Conditional object. More...
 
 HybridConditional (const std::shared_ptr< DiscreteConditional > &discreteConditional)
 Construct a new Hybrid Conditional object. More...
 
 HybridConditional (const std::shared_ptr< GaussianMixture > &gaussianMixture)
 Construct a new Hybrid Conditional object. More...
 
void print (const std::string &s="Hybrid Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 GTSAM-style print. More...
 
bool equals (const HybridFactor &other, double tol=1e-9) const override
 GTSAM-style equals. More...
 
GaussianMixture::shared_ptr asMixture () const
 Return HybridConditional as a GaussianMixture. More...
 
GaussianConditional::shared_ptr asGaussian () const
 Return HybridConditional as a GaussianConditional. More...
 
DiscreteConditional::shared_ptr asDiscrete () const
 Return conditional as a DiscreteConditional. More...
 
std::shared_ptr< Factorinner () const
 Get the type-erased pointer to the inner type. More...
 
double error (const HybridValues &values) const override
 Return the error of the underlying conditional. More...
 
double logProbability (const HybridValues &values) const override
 Return the log-probability (or density) of the underlying conditional. More...
 
double logNormalizationConstant () const override
 
double evaluate (const HybridValues &values) const override
 Return the probability (or density) of the underlying conditional. More...
 
bool frontalsIn (const VectorValues &measurements) const
 Check if VectorValues measurements contains all frontal keys. 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...
 
void print (const std::string &s="HybridFactor\, const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print 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 DiscreteKeysdiscreteKeys () const
 Return the discrete keys for this factor. More...
 
const KeyVectorcontinuousKeys () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 
- Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
void print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const
 
bool equals (const This &c, double tol=1e-9) const
 
virtual ~Conditional ()
 
size_t nrFrontals () const
 
size_t nrParents () const
 
Key firstFrontalKey () const
 
Frontals frontals () const
 
Parents parents () const
 
double operator() (const HybridValues &x) const
 Evaluate probability density, sugar. More...
 
double normalizationConstant () const
 
size_tnrFrontals ()
 
HybridFactor ::const_iterator beginFrontals () const
 
HybridFactor ::iterator beginFrontals ()
 
HybridFactor ::const_iterator endFrontals () const
 
HybridFactor ::iterator endFrontals ()
 
HybridFactor ::const_iterator beginParents () const
 
HybridFactor ::iterator beginParents ()
 
HybridFactor ::const_iterator endParents () const
 
HybridFactor ::iterator endParents ()
 

Public Attributes

std::shared_ptr< CliqueTypeclique
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
static bool CheckInvariants (const HybridConditional &conditional, const VALUES &x)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 
- Protected Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
 Conditional ()
 
 Conditional (size_t nrFrontals)
 
- 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::HybridConditional
std::shared_ptr< Factorinner_
 Type-erased pointer to the inner type. More...
 
- 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...
 
- Protected Attributes inherited from gtsam::Conditional< HybridFactor, HybridConditional >
size_t nrFrontals_
 

Detailed Description

template<>
class gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >

Class for Hybrid Bayes tree orphan subtrees.

This object stores parent keys in our base type factor so that eliminating those parent keys will pull this subtree into the elimination.

This is a template instantiation for hybrid Bayes tree cliques, storing both the regular keys and discrete keys in the HybridConditional.

Definition at line 140 of file HybridBayesTree.h.

Member Typedef Documentation

◆ Base

Definition at line 143 of file HybridBayesTree.h.

◆ CliqueType

Definition at line 142 of file HybridBayesTree.h.

Constructor & Destructor Documentation

◆ BayesTreeOrphanWrapper()

gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >::BayesTreeOrphanWrapper ( const std::shared_ptr< CliqueType > &  clique)
inline

Construct a new Bayes Tree Orphan Wrapper object.

Parameters
cliqueBayes tree clique.

Definition at line 152 of file HybridBayesTree.h.

Member Function Documentation

◆ print()

void gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print utility

Reimplemented from gtsam::Factor.

Definition at line 163 of file HybridBayesTree.h.

Member Data Documentation

◆ clique

Definition at line 145 of file HybridBayesTree.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15