#include <HybridGaussianFactorGraph.h>

Inheritance diagram for gtsam::HybridGaussianFactorGraph:

Public Types
using	Base = HybridFactorGraph

using	BaseEliminateable = EliminateableFactorGraph< This >
	for elimination More...

using	Indices = KeyVector
	map from keys to values More...

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = HybridGaussianFactorGraph
	this class More...

using	Values = gtsam::Values
	backwards compatibility More...

Public Types inherited from gtsam::HybridFactorGraph
using	Base = FactorGraph< Factor >

using	Indices = KeyVector

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = HybridFactorGraph
	this class More...

using	Values = gtsam::Values
	backwards compatibility More...

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

typedef Factor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef std::shared_ptr< Factor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Types inherited from gtsam::EliminateableFactorGraph< HybridGaussianFactorGraph >
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 std::function< EliminationResult(const FactorGraphType &, const Ordering &)>	Eliminate
	The function type that does a single dense elimination step on a subgraph. More...

typedef std::pair< std::shared_ptr< ConditionalType >, std::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 std::optional< Ordering::OrderingType >	OptionalOrderingType
	Typedef for an optional ordering type. More...

typedef std::optional< std::reference_wrapper< const VariableIndex > >	OptionalVariableIndex

Public Member Functions
Constructors
	HybridGaussianFactorGraph ()=default
	Default constructor. More...

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

Standard Interface
AlgebraicDecisionTree< Key >	error (const VectorValues &continuousValues) const
	Compute error for each discrete assignment, and return as a tree. More...

AlgebraicDecisionTree< Key >	probPrime (const VectorValues &continuousValues) const
	Compute unnormalized probability for each discrete assignment, and return as a tree. More...

double	probPrime (const HybridValues &values) const
	Compute the unnormalized posterior probability for a continuous vector values given a specific assignment. More...

GaussianFactorGraphTree	assembleGraphTree () const
	Create a decision tree of factor graphs out of this hybrid factor graph. More...

Public Member Functions inherited from gtsam::HybridFactorGraph
	HybridFactorGraph ()=default
	Default constructor. More...

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

std::set< DiscreteKey >	discreteKeys () const
	Get all the discrete keys in the factor graph. More...

KeySet	discreteKeySet () const
	Get all the discrete keys in the factor graph, as a set. More...

std::unordered_map< Key, DiscreteKey >	discreteKeyMap () const
	Get a map from Key to corresponding DiscreteKey. More...

const KeySet	continuousKeySet () const
	Get all the continuous keys in the factor graph. More...

Public Member Functions inherited from gtsam::FactorGraph< Factor >
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

virtual	~FactorGraph ()=default

void	reserve (size_t size)

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

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)

virtual void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print out graph to std::cout, with optional key formatter. More...

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance. More...

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

double	error (const HybridValues &values) const

iterator	begin ()

iterator	end ()

virtual 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)

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format. More...

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Public Member Functions inherited from gtsam::EliminateableFactorGraph< HybridGaussianFactorGraph >
std::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

Protected Types
template<typename FACTOR >
using	IsGaussian = typename std::enable_if< std::is_base_of< GaussianFactor, FACTOR >::value >::type
	Check if FACTOR type is derived from GaussianFactor. More...

Additional Inherited Members
Protected Member Functions inherited from gtsam::FactorGraph< Factor >
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

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

Detailed Description

Hybrid Gaussian Factor Graph

This is the linearized version of a hybrid factor graph.

Definition at line 103 of file HybridGaussianFactorGraph.h.

Member Typedef Documentation

◆ Base

using gtsam::HybridGaussianFactorGraph::Base = HybridFactorGraph

Definition at line 113 of file HybridGaussianFactorGraph.h.

◆ BaseEliminateable

using gtsam::HybridGaussianFactorGraph::BaseEliminateable = EliminateableFactorGraph<This>

for elimination

Definition at line 116 of file HybridGaussianFactorGraph.h.

◆ Indices

using gtsam::HybridGaussianFactorGraph::Indices = KeyVector

map from keys to values

Definition at line 120 of file HybridGaussianFactorGraph.h.

◆ IsGaussian

template<typename FACTOR >

using gtsam::HybridGaussianFactorGraph::IsGaussian = typename std::enable_if< std::is_base_of<GaussianFactor, FACTOR>::value>::type

protected

Check if FACTOR type is derived from GaussianFactor.

Definition at line 110 of file HybridGaussianFactorGraph.h.

◆ shared_ptr

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

shared_ptr to This

Definition at line 117 of file HybridGaussianFactorGraph.h.

◆ This

using gtsam::HybridGaussianFactorGraph::This = HybridGaussianFactorGraph

this class

Definition at line 114 of file HybridGaussianFactorGraph.h.

◆ Values

using gtsam::HybridGaussianFactorGraph::Values = gtsam::Values

backwards compatibility

Definition at line 119 of file HybridGaussianFactorGraph.h.

Constructor & Destructor Documentation

◆ HybridGaussianFactorGraph() [1/2]

gtsam::HybridGaussianFactorGraph::HybridGaussianFactorGraph ( )

default

Default constructor.

◆ HybridGaussianFactorGraph() [2/2]

template<class DERIVEDFACTOR >

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

inline

Implicit copy/downcast constructor to override explicit template container constructor. In BayesTree this is used for: cachedSeparatorMarginal_.reset(*separatorMarginal)

Definition at line 134 of file HybridGaussianFactorGraph.h.

Member Function Documentation

◆ assembleGraphTree()

GaussianFactorGraphTree gtsam::HybridGaussianFactorGraph::assembleGraphTree ( ) const

Create a decision tree of factor graphs out of this hybrid factor graph.

For example, if there are two mixture factors, one with a discrete key A and one with a discrete key B, then the decision tree will have two levels, one for A and one for B. The leaves of the tree will be the Gaussian factors that have only continuous keys.

Definition at line 100 of file HybridGaussianFactorGraph.cpp.