Implementation of a discrete conditional mixture factor. Implements a joint discrete-continuous factor where the discrete variable serves to "select" a mixture component corresponding to a GaussianFactor type of measurement. More...

#include <GaussianMixtureFactor.h>

Inheritance diagram for gtsam::GaussianMixtureFactor:

[legend]

Public Types
using	Base = HybridFactor

using	Factors = DecisionTree< Key, sharedFactor >
	typedef for Decision Tree of Gaussian factors and log-constant. More...

using	shared_ptr = std::shared_ptr< This >

using	sharedFactor = std::shared_ptr< GaussianFactor >

using	This = GaussianMixtureFactor

Public Types inherited from gtsam::HybridFactor
typedef Factor	Base
	Our base class. 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
Constructors
	GaussianMixtureFactor ()=default
	Default constructor, mainly for serialization. More...

	GaussianMixtureFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, const Factors &factors)
	Construct a new Gaussian mixture factor. More...

	GaussianMixtureFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, const std::vector< sharedFactor > &factors)
	Construct a new GaussianMixtureFactor object using a vector of GaussianFactor shared pointers. More...

Testable
bool	equals (const HybridFactor &lf, double tol=1e-9) const override
	equals More...

void	print (const std::string &s="GaussianMixtureFactor\, const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print 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 DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor. More...

const KeyVector &	continuousKeys () 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 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 ()

Private Member Functions
GaussianFactorGraphTree	asGaussianFactorGraphTree () const
	Helper function to return factors and functional to create a DecisionTree of Gaussian Factor Graphs. More...

Private Attributes
Factors	factors_
	Decision tree of Gaussian factors indexed by discrete keys. More...

Standard API
sharedFactor	operator() (const DiscreteValues &assignment) const
	Get factor at a given discrete assignment. More...

GaussianFactorGraphTree	add (const GaussianFactorGraphTree &sum) const
	Combine the Gaussian Factor Graphs in `sum` and `this` while maintaining the original tree structure. More...

AlgebraicDecisionTree< Key >	error (const VectorValues &continuousValues) const
	Compute error of the GaussianMixtureFactor as a tree. More...

double	error (const HybridValues &values) const override
	Compute the log-likelihood, including the log-normalizing constant. More...

const Factors &	factors () const
	Getter for GaussianFactor decision tree. More...

GaussianFactorGraphTree &	operator+= (GaussianFactorGraphTree &sum, const GaussianMixtureFactor &factor)
	Add MixtureFactor to a Sum, syntactic sugar. 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)

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...

Detailed Description

Implementation of a discrete conditional mixture factor. Implements a joint discrete-continuous factor where the discrete variable serves to "select" a mixture component corresponding to a GaussianFactor type of measurement.

Represents the underlying Gaussian mixture as a Decision Tree, where the set of discrete variables indexes to the continuous gaussian distribution.

Definition at line 47 of file GaussianMixtureFactor.h.

Member Typedef Documentation

◆ Base

using gtsam::GaussianMixtureFactor::Base = HybridFactor

Definition at line 49 of file GaussianMixtureFactor.h.

◆ Factors

using gtsam::GaussianMixtureFactor::Factors = DecisionTree<Key, sharedFactor>

typedef for Decision Tree of Gaussian factors and log-constant.

Definition at line 56 of file GaussianMixtureFactor.h.

◆ shared_ptr

using gtsam::GaussianMixtureFactor::shared_ptr = std::shared_ptr<This>

Definition at line 51 of file GaussianMixtureFactor.h.

◆ sharedFactor

using gtsam::GaussianMixtureFactor::sharedFactor = std::shared_ptr<GaussianFactor>

Definition at line 53 of file GaussianMixtureFactor.h.

◆ This

using gtsam::GaussianMixtureFactor::This = GaussianMixtureFactor

Definition at line 50 of file GaussianMixtureFactor.h.

Constructor & Destructor Documentation

◆ GaussianMixtureFactor() [1/3]

gtsam::GaussianMixtureFactor::GaussianMixtureFactor ( )

default

Default constructor, mainly for serialization.

◆ GaussianMixtureFactor() [2/3]

gtsam::GaussianMixtureFactor::GaussianMixtureFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys,
		const Factors &	factors
	)

Construct a new Gaussian mixture factor.

Parameters

continuousKeys	A vector of keys representing continuous variables.
discreteKeys	A vector of keys representing discrete variables and their cardinalities.
factors	The decision tree of Gaussian factors stored as the mixture density.

Definition at line 32 of file GaussianMixtureFactor.cpp.

◆ GaussianMixtureFactor() [3/3]

gtsam::GaussianMixtureFactor::GaussianMixtureFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys,
		const std::vector< sharedFactor > &	factors
	)

inline

Construct a new GaussianMixtureFactor object using a vector of GaussianFactor shared pointers.

Parameters

continuousKeys	Vector of keys for continuous factors.
discreteKeys	Vector of discrete keys.
factors	Vector of gaussian factor shared pointers.

Definition at line 98 of file GaussianMixtureFactor.h.

Member Function Documentation

◆ add()

GaussianFactorGraphTree gtsam::GaussianMixtureFactor::add ( const GaussianFactorGraphTree & sum ) const

Combine the Gaussian Factor Graphs in sum and this while maintaining the original tree structure.

Parameters

sum	Decision Tree of Gaussian Factor Graphs indexed by the variables.

Returns: Sum

Definition at line 85 of file GaussianMixtureFactor.cpp.

◆ asGaussianFactorGraphTree()

GaussianFactorGraphTree gtsam::GaussianMixtureFactor::asGaussianFactorGraphTree ( ) const

private

Helper function to return factors and functional to create a DecisionTree of Gaussian Factor Graphs.

Returns: GaussianFactorGraphTree

Definition at line 98 of file GaussianMixtureFactor.cpp.

◆ equals()

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

overridevirtual

equals

Reimplemented from gtsam::HybridFactor.

Definition at line 38 of file GaussianMixtureFactor.cpp.

◆ error() [1/2]

AlgebraicDecisionTree< Key > gtsam::GaussianMixtureFactor::error ( const VectorValues & continuousValues ) const

Compute error of the GaussianMixtureFactor as a tree.

Parameters

continuousValues The continuous VectorValues.

Returns: AlgebraicDecisionTree<Key> A decision tree with the same keys as the factors involved, and leaf values as the error.

Definition at line 105 of file GaussianMixtureFactor.cpp.

◆ error() [2/2]

double gtsam::GaussianMixtureFactor::error ( const HybridValues & values ) const

overridevirtual

Compute the log-likelihood, including the log-normalizing constant.

Returns: double

Reimplemented from gtsam::Factor.

Definition at line 116 of file GaussianMixtureFactor.cpp.

◆ factors()

const Factors& gtsam::GaussianMixtureFactor::factors ( ) const

inline

Getter for GaussianFactor decision tree.

Definition at line 147 of file GaussianMixtureFactor.h.

◆ operator()()

GaussianMixtureFactor::sharedFactor gtsam::GaussianMixtureFactor::operator() ( const DiscreteValues & assignment ) const

Get factor at a given discrete assignment.

Definition at line 79 of file GaussianMixtureFactor.cpp.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 55 of file GaussianMixtureFactor.cpp.

Friends And Related Function Documentation

◆ operator+=

GaussianFactorGraphTree& operator+=	(	GaussianFactorGraphTree &	sum,
		const GaussianMixtureFactor &	factor
	)

friend

Add MixtureFactor to a Sum, syntactic sugar.

Definition at line 150 of file GaussianMixtureFactor.h.

Member Data Documentation

◆ factors_

Factors gtsam::GaussianMixtureFactor::factors_

private

Decision tree of Gaussian factors indexed by discrete keys.

Definition at line 60 of file GaussianMixtureFactor.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Standard API

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Factors

◆ shared_ptr

◆ sharedFactor

◆ This

Constructor & Destructor Documentation

◆ GaussianMixtureFactor() [1/3]

◆ GaussianMixtureFactor() [2/3]

◆ GaussianMixtureFactor() [3/3]

Member Function Documentation

◆ add()

◆ asGaussianFactorGraphTree()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ factors()

◆ operator()()

◆ print()

Friends And Related Function Documentation

◆ operator+=

Member Data Documentation

◆ factors_