Implementation of a discrete conditional mixture factor. More...

#include <MixtureFactor.h>

Inheritance diagram for gtsam::MixtureFactor:

Public Types
using	Base = HybridFactor

using	Factors = DecisionTree< Key, sharedFactor >
	typedef for DecisionTree which has Keys as node labels and NonlinearFactor as leaf nodes. More...

using	shared_ptr = std::shared_ptr< MixtureFactor >

using	sharedFactor = std::shared_ptr< NonlinearFactor >

using	This = MixtureFactor

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
size_t	dim () const
	Get the dimension of the factor (number of rows on linearization). Returns the dimension of the first component factor. More...

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

double	error (const Values &continuousValues, const DiscreteValues &discreteValues) const
	Compute error of factor given both continuous and discrete values. More...

double	error (const HybridValues &values) const override
	Compute error of factor given hybrid values. More...

GaussianFactor::shared_ptr	linearize (const Values &continuousValues, const DiscreteValues &discreteValues) const

std::shared_ptr< GaussianMixtureFactor >	linearize (const Values &continuousValues) const
	Linearize all the continuous factors to get a GaussianMixtureFactor. More...

	MixtureFactor ()=default

	MixtureFactor (const KeyVector &keys, const DiscreteKeys &discreteKeys, const Factors &factors, bool normalized=false)
	Construct from Decision tree. More...

template<typename FACTOR >
	MixtureFactor (const KeyVector &keys, const DiscreteKeys &discreteKeys, const std::vector< std::shared_ptr< FACTOR >> &factors, bool normalized=false)
	Convenience constructor that generates the underlying factor decision tree for us. More...

double	nonlinearFactorLogNormalizingConstant (const sharedFactor &factor, const Values &values) const


void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print to stdout More...

bool	equals (const HybridFactor &other, double tol=1e-9) const override
	Check equality. 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...

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

bool	normalized_

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 NonlinearFactor type of measurement.

This class stores all factors as HybridFactors which can then be typecast to one of (NonlinearFactor, GaussianFactor) which can then be checked to perform the correct operation.

Definition at line 47 of file MixtureFactor.h.

Member Typedef Documentation

◆ Base

using gtsam::MixtureFactor::Base = HybridFactor

Definition at line 49 of file MixtureFactor.h.

◆ Factors

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

typedef for DecisionTree which has Keys as node labels and NonlinearFactor as leaf nodes.

Definition at line 58 of file MixtureFactor.h.

◆ shared_ptr

using gtsam::MixtureFactor::shared_ptr = std::shared_ptr<MixtureFactor>

Definition at line 51 of file MixtureFactor.h.

◆ sharedFactor

using gtsam::MixtureFactor::sharedFactor = std::shared_ptr<NonlinearFactor>

Definition at line 52 of file MixtureFactor.h.

◆ This

using gtsam::MixtureFactor::This = MixtureFactor

Definition at line 50 of file MixtureFactor.h.

Constructor & Destructor Documentation

◆ MixtureFactor() [1/3]

gtsam::MixtureFactor::MixtureFactor ( )

default

◆ MixtureFactor() [2/3]

gtsam::MixtureFactor::MixtureFactor	(	const KeyVector &	keys,
		const DiscreteKeys &	discreteKeys,
		const Factors &	factors,
		bool	normalized = `false`
	)

inline

Construct from Decision tree.

Parameters

keys	Vector of keys for continuous factors.
discreteKeys	Vector of discrete keys.
factors	Decision tree with of shared factors.
normalized	Flag indicating if the factor error is already normalized.

Definition at line 77 of file MixtureFactor.h.

◆ MixtureFactor() [3/3]

template<typename FACTOR >

gtsam::MixtureFactor::MixtureFactor	(	const KeyVector &	keys,
		const DiscreteKeys &	discreteKeys,
		const std::vector< std::shared_ptr< FACTOR >> &	factors,
		bool	normalized = `false`
	)

inline

Convenience constructor that generates the underlying factor decision tree for us.

Here it is important that the vector of factors has the correct number of elements based on the number of discrete keys and the cardinality of the keys, so that the decision tree is constructed appropriately.

Template Parameters

FACTOR The type of the factor shared pointers being passed in. Will be typecast to NonlinearFactor shared pointers.

Parameters

keys	Vector of keys for continuous factors.
discreteKeys	Vector of discrete keys.
factors	Vector of nonlinear factors.
normalized	Flag indicating if the factor error is already normalized.

Definition at line 98 of file MixtureFactor.h.

Member Function Documentation

◆ dim()

size_t gtsam::MixtureFactor::dim ( ) const

inline

Get the dimension of the factor (number of rows on linearization). Returns the dimension of the first component factor.

Returns: size_t

Definition at line 176 of file MixtureFactor.h.

◆ equals()

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

inlineoverridevirtual

Check equality.

Reimplemented from gtsam::HybridFactor.

Definition at line 203 of file MixtureFactor.h.

◆ error() [1/3]

AlgebraicDecisionTree<Key> gtsam::MixtureFactor::error ( const Values & continuousValues ) const

inline

Compute error of the MixtureFactor as a tree.

Parameters

continuousValues The continuous values for which to compute the error.

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

Definition at line 134 of file MixtureFactor.h.

◆ error() [2/3]

double gtsam::MixtureFactor::error	(	const Values &	continuousValues,
		const DiscreteValues &	discreteValues
	)		const

inline

Compute error of factor given both continuous and discrete values.

Parameters

continuousValues	The continuous Values.
discreteValues	The discrete Values.

Returns: double The error of this factor.

Definition at line 150 of file MixtureFactor.h.

◆ error() [3/3]

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

inlineoverridevirtual

Compute error of factor given hybrid values.

Parameters

values The continuous Values and the discrete assignment.

Returns: double The error of this factor.

Reimplemented from gtsam::Factor.

Definition at line 167 of file MixtureFactor.h.

◆ linearize() [1/2]

GaussianFactor::shared_ptr gtsam::MixtureFactor::linearize	(	const Values &	continuousValues,
		const DiscreteValues &	discreteValues
	)		const

inline

Linearize specific nonlinear factors based on the assignment in discreteValues.

Definition at line 229 of file MixtureFactor.h.

◆ linearize() [2/2]

std::shared_ptr<GaussianMixtureFactor> gtsam::MixtureFactor::linearize ( const Values & continuousValues ) const

inline

Linearize all the continuous factors to get a GaussianMixtureFactor.

Definition at line 237 of file MixtureFactor.h.

◆ nonlinearFactorLogNormalizingConstant()

double gtsam::MixtureFactor::nonlinearFactorLogNormalizingConstant	(	const sharedFactor &	factor,
		const Values &	values
	)		const

inline

If the component factors are not already normalized, we want to compute their normalizing constants so that the resulting joint distribution is appropriately computed. Remember, this is the negative normalizing constant for the measurement likelihood (since we are minimizing the negative log-likelihood).

Definition at line 258 of file MixtureFactor.h.

◆ print()

void gtsam::MixtureFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print to stdout

Testable

Reimplemented from gtsam::HybridFactor.

Definition at line 186 of file MixtureFactor.h.

Member Data Documentation

◆ factors_

Factors gtsam::MixtureFactor::factors_

private

Decision tree of Gaussian factors indexed by discrete keys.

Definition at line 62 of file MixtureFactor.h.

◆ normalized_

bool gtsam::MixtureFactor::normalized_

private

Definition at line 63 of file MixtureFactor.h.

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

MixtureFactor.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Factors

◆ shared_ptr

◆ sharedFactor

◆ This

Constructor & Destructor Documentation

◆ MixtureFactor() [1/3]

◆ MixtureFactor() [2/3]

◆ MixtureFactor() [3/3]

Member Function Documentation

◆ dim()

◆ equals()

◆ error() [1/3]

◆ error() [2/3]

◆ error() [3/3]

◆ linearize() [1/2]

◆ linearize() [2/2]

◆ nonlinearFactorLogNormalizingConstant()

◆ print()

Member Data Documentation

◆ factors_

◆ normalized_