gtsam::LabeledSymbol Class Reference

#include <LabeledSymbol.h>

Public Member Functions
unsigned char	chr () const
bool	equals (const LabeledSymbol &expected, double tol=0.0) const
size_t	index () const
gtsam::Key	key () const
unsigned char	label () const
	LabeledSymbol ()
	LabeledSymbol (const LabeledSymbol &key)
	LabeledSymbol (unsigned char c, unsigned char label, std::uint64_t j)
	LabeledSymbol (gtsam::Key key)
LabeledSymbol	lower () const
LabeledSymbol	newChr (unsigned char c) const
LabeledSymbol	newLabel (unsigned char label) const
	operator gtsam::Key () const
	operator std::string () const
bool	operator!= (const LabeledSymbol &comp) const
bool	operator!= (gtsam::Key comp) const
bool	operator< (const LabeledSymbol &comp) const
bool	operator== (const LabeledSymbol &comp) const
bool	operator== (gtsam::Key comp) const
void	print (const std::string &s="") const
LabeledSymbol	upper () const

Static Public Member Functions
static std::function< bool(gtsam::Key)>	LabelTest (unsigned char label)
static std::function< bool(gtsam::Key)>	TypeLabelTest (unsigned char c, unsigned char label)
static std::function< bool(gtsam::Key)>	TypeTest (unsigned char c)

Protected Attributes
unsigned char	c_
std::uint64_t	j_
unsigned char	label_

Friends
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &, const LabeledSymbol &)
	Output stream operator that can be used with key_formatter (see Key.h). More...

Detailed Description

Customized version of gtsam::Symbol for multi-robot use.

This variation of Symbol stores two char values in addition to an integer key, which is useful for encoding a group for a variable. This was originally designed for multi-robot systems, which allows expressing "Pose 7 from robot B" as "xB7".

Definition at line 35 of file LabeledSymbol.h.

Constructor & Destructor Documentation

LabeledSymbol() [1/4]

gtsam::LabeledSymbol::LabeledSymbol

(

)

Default constructor

Definition at line 28 of file LabeledSymbol.cpp.

LabeledSymbol() [2/4]

gtsam::LabeledSymbol::LabeledSymbol

(

const LabeledSymbol &

key

)

Copy constructor

Definition at line 32 of file LabeledSymbol.cpp.

LabeledSymbol() [3/4]

gtsam::LabeledSymbol::LabeledSymbol	(	unsigned char	c,
		unsigned char	label,
		std::uint64_t	j
	)

Constructor

Definition at line 36 of file LabeledSymbol.cpp.

LabeledSymbol() [4/4]

gtsam::LabeledSymbol::LabeledSymbol

(

gtsam::Key

key

)

Constructor that decodes an integer gtsam::Key

Definition at line 40 of file LabeledSymbol.cpp.

Member Function Documentation

chr()

unsigned char gtsam::LabeledSymbol::chr ( ) const

inline

Retrieve key character

Definition at line 70 of file LabeledSymbol.h.

equals()

bool gtsam::LabeledSymbol::equals ( const LabeledSymbol &  expected, double  tol = 0.0  ) const

inline

Definition at line 59 of file LabeledSymbol.h.

index()

size_t gtsam::LabeledSymbol::index ( ) const

inline

Retrieve key index

Definition at line 73 of file LabeledSymbol.h.

key()

gtsam::Key gtsam::LabeledSymbol::key ( ) const

inline

return the integer version

Definition at line 64 of file LabeledSymbol.h.

label()

unsigned char gtsam::LabeledSymbol::label ( ) const

inline

Retrieve label character

Definition at line 67 of file LabeledSymbol.h.

LabelTest()

std::function< bool(gtsam::Key)> gtsam::LabeledSymbol::LabelTest ( unsigned char  label )

static

Definition at line 120 of file LabeledSymbol.cpp.

lower()

LabeledSymbol gtsam::LabeledSymbol::lower ( ) const

inline

Definition at line 102 of file LabeledSymbol.h.

newChr()

LabeledSymbol gtsam::LabeledSymbol::newChr ( unsigned char  c ) const

inline

Definition at line 105 of file LabeledSymbol.h.

newLabel()

LabeledSymbol gtsam::LabeledSymbol::newLabel ( unsigned char  label ) const

inline

Definition at line 108 of file LabeledSymbol.h.

operator gtsam::Key()

gtsam::LabeledSymbol::operator gtsam::Key

(

)

const

Cast to integer

Definition at line 54 of file LabeledSymbol.cpp.

operator std::string()

gtsam::LabeledSymbol::operator std::string

(

)

const

Create a string from the key

Definition at line 74 of file LabeledSymbol.cpp.

operator!=() [1/2]

bool gtsam::LabeledSymbol::operator!=

(

const LabeledSymbol &

comp

)

const

Definition at line 94 of file LabeledSymbol.cpp.

operator!=() [2/2]

bool gtsam::LabeledSymbol::operator!=

(

gtsam::Key

comp

)

const

Definition at line 104 of file LabeledSymbol.cpp.

operator<()

bool gtsam::LabeledSymbol::operator<

(

const LabeledSymbol &

comp

)

const

Comparison for use in maps

Definition at line 82 of file LabeledSymbol.cpp.

operator==() [1/2]

bool gtsam::LabeledSymbol::operator==

(

const LabeledSymbol &

comp

)

const

Definition at line 89 of file LabeledSymbol.cpp.

operator==() [2/2]

bool gtsam::LabeledSymbol::operator==

(

gtsam::Key

comp

)

const

Definition at line 99 of file LabeledSymbol.cpp.

print()

void gtsam::LabeledSymbol::print

(

const std::string &

s = ""

)

const

Definition at line 69 of file LabeledSymbol.cpp.

TypeLabelTest()

std::function< bool(gtsam::Key)> gtsam::LabeledSymbol::TypeLabelTest ( unsigned char  c, unsigned char  label  )

static

Definition at line 129 of file LabeledSymbol.cpp.

TypeTest()

std::function< bool(gtsam::Key)> gtsam::LabeledSymbol::TypeTest ( unsigned char  c )

static

Return a filter function that returns true when evaluated on a gtsam::Key whose character (when converted to a LabeledSymbol) matches c. Use this with the Values::filter() function to retrieve all key-value pairs with the requested character.

Definition at line 111 of file LabeledSymbol.cpp.

upper()

LabeledSymbol gtsam::LabeledSymbol::upper ( ) const

inline

Definition at line 101 of file LabeledSymbol.h.

Friends And Related Function Documentation

operator<<

GTSAM_EXPORT std::ostream& operator<< ( std::ostream &  os, const LabeledSymbol &  symbol  )

friend

Output stream operator that can be used with key_formatter (see Key.h).

Definition at line 145 of file LabeledSymbol.cpp.

Member Data Documentation

c_

unsigned char gtsam::LabeledSymbol::c_

protected

Definition at line 37 of file LabeledSymbol.h.

j_

std::uint64_t gtsam::LabeledSymbol::j_

protected

Definition at line 38 of file LabeledSymbol.h.

label_

unsigned char gtsam::LabeledSymbol::label_

protected

Definition at line 37 of file LabeledSymbol.h.

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

• LabeledSymbol.h
• LabeledSymbol.cpp