#include <HybridNonlinearFactorGraph.h>
Inheritance diagram for gtsam::HybridNonlinearFactorGraph:
Public Types | |
| using | Base = HybridFactorGraph |
| using | Indices = KeyVector |
| using | shared_ptr = std::shared_ptr< This > |
| shared_ptr to This More... | |
| using | This = HybridNonlinearFactorGraph |
| 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 Member Functions | |
Constructors | |
| HybridNonlinearFactorGraph ()=default | |
| template<class DERIVEDFACTOR > | |
| HybridNonlinearFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph) | |
| void | print (const std::string &s="HybridNonlinearFactorGraph", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print the factor graph. More... | |
Standard Interface | |
| std::shared_ptr< HybridGaussianFactorGraph > | linearize (const Values &continuousValues) const |
| Linearize all the continuous factors in the HybridNonlinearFactorGraph. 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) |
| 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 |
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
Nonlinear Hybrid Factor Graph
This is the non-linear version of a hybrid factor graph. Everything inside needs to be hybrid factor or hybrid conditional.
Definition at line 33 of file HybridNonlinearFactorGraph.h.
Member Typedef Documentation
◆ Base
Definition at line 36 of file HybridNonlinearFactorGraph.h.
◆ Indices
Definition at line 41 of file HybridNonlinearFactorGraph.h.
◆ shared_ptr
| using gtsam::HybridNonlinearFactorGraph::shared_ptr = std::shared_ptr<This> |
shared_ptr to This
Definition at line 38 of file HybridNonlinearFactorGraph.h.
◆ This
this class
Definition at line 37 of file HybridNonlinearFactorGraph.h.
◆ Values
backwards compatibility
Definition at line 40 of file HybridNonlinearFactorGraph.h.
Constructor & Destructor Documentation
◆ HybridNonlinearFactorGraph() [1/2]
|
default |
◆ HybridNonlinearFactorGraph() [2/2]
template<class DERIVEDFACTOR >
|
inline |
Implicit copy/downcast constructor to override explicit template container constructor. In BayesTree this is used for: cachedSeparatorMarginal_.reset(*separatorMarginal)
Definition at line 54 of file HybridNonlinearFactorGraph.h.
Member Function Documentation
◆ linearize()
| HybridGaussianFactorGraph::shared_ptr gtsam::HybridNonlinearFactorGraph::linearize | ( | const Values & | continuousValues | ) | const |
Linearize all the continuous factors in the HybridNonlinearFactorGraph.
- Parameters
-
continuousValues Dictionary of continuous values.
Definition at line 45 of file HybridNonlinearFactorGraph.cpp.
◆ print()
|
overridevirtual |
Print the factor graph.
Reimplemented from gtsam::FactorGraph< Factor >.
Definition at line 29 of file HybridNonlinearFactorGraph.cpp.
The documentation for this class was generated from the following files: