#include <SymbolicFactor.h>

Inheritance diagram for gtsam::SymbolicFactor:

Public Types
typedef Factor	Base

typedef SymbolicConditional	ConditionalType

typedef std::shared_ptr< This >	shared_ptr

typedef SymbolicFactor	This

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...

Standard Constructors
	SymbolicFactor ()

	SymbolicFactor (Key j)

	SymbolicFactor (Key j1, Key j2)

	SymbolicFactor (Key j1, Key j2, Key j3)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5)

	SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5, Key j6)

	SymbolicFactor (const Factor &factor)

SymbolicFactor::shared_ptr	clone () const
	Copy this object as its actual derived type. More...

Testable
bool	equals (const This &other, double tol=1e-9) const

void	print (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print More...

void	printKeys (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print only keys More...

Advanced Constructors
template<typename KEYITERATOR >
static SymbolicFactor	FromIterators (KEYITERATOR beginKey, KEYITERATOR endKey)

template<typename KEYITERATOR >
static SymbolicFactor::shared_ptr	FromIteratorsShared (KEYITERATOR beginKey, KEYITERATOR endKey)

template<class CONTAINER >
static SymbolicFactor	FromKeys (const CONTAINER &keys)

template<class CONTAINER >
static SymbolicFactor::shared_ptr	FromKeysShared (const CONTAINER &keys)

Standard Interface
double	error (const HybridValues &c) const override
	The `error` method throws an exception. More...

std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > >	eliminate (const Ordering &keys) const

Additional Inherited Members
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

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

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::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function.

for symbolic elimination etc.

Note that derived classes must also redefine the This and shared_ptr typedefs. See JacobianFactor, etc. for examples.

Definition at line 38 of file SymbolicFactor.h.

Member Typedef Documentation

◆ Base

typedef Factor gtsam::SymbolicFactor::Base

Definition at line 43 of file SymbolicFactor.h.

◆ ConditionalType

typedef SymbolicConditional gtsam::SymbolicFactor::ConditionalType

Definition at line 44 of file SymbolicFactor.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::SymbolicFactor::shared_ptr

Overriding the shared_ptr typedef

Definition at line 47 of file SymbolicFactor.h.

◆ This

typedef SymbolicFactor gtsam::SymbolicFactor::This

Definition at line 42 of file SymbolicFactor.h.

Constructor & Destructor Documentation

◆ SymbolicFactor() [1/8]

gtsam::SymbolicFactor::SymbolicFactor ( )

inline

Default constructor for I/O

Definition at line 53 of file SymbolicFactor.h.

◆ SymbolicFactor() [2/8]

gtsam::SymbolicFactor::SymbolicFactor ( Key j )

inlineexplicit

Construct unary factor

Definition at line 56 of file SymbolicFactor.h.

◆ SymbolicFactor() [3/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2
	)

inline

Construct binary factor

Definition at line 60 of file SymbolicFactor.h.

◆ SymbolicFactor() [4/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3
	)

inline

Construct ternary factor

Definition at line 64 of file SymbolicFactor.h.

◆ SymbolicFactor() [5/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4
	)

inline

Construct 4-way factor

Definition at line 68 of file SymbolicFactor.h.

◆ SymbolicFactor() [6/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4,
		Key	j5
	)

inline

Construct 5-way factor

Definition at line 72 of file SymbolicFactor.h.

◆ SymbolicFactor() [7/8]

gtsam::SymbolicFactor::SymbolicFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		Key	j4,
		Key	j5,
		Key	j6
	)

inline

Construct 6-way factor

Definition at line 76 of file SymbolicFactor.h.

◆ SymbolicFactor() [8/8]

gtsam::SymbolicFactor::SymbolicFactor ( const Factor & factor )

inlineexplicit

Create symbolic version of any factor

Definition at line 80 of file SymbolicFactor.h.

Member Function Documentation

◆ clone()

SymbolicFactor::shared_ptr gtsam::SymbolicFactor::clone ( ) const

inline

Copy this object as its actual derived type.

Definition at line 83 of file SymbolicFactor.h.

◆ eliminate()

std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > > gtsam::SymbolicFactor::eliminate ( const Ordering & keys ) const

Eliminate the variables in keys, in the order specified in keys, returning a conditional and marginal.

Definition at line 49 of file SymbolicFactor.cpp.

◆ equals()

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

Definition at line 42 of file SymbolicFactor.cpp.

◆ error()

double gtsam::SymbolicFactor::error ( const HybridValues & c ) const

overridevirtual

The error method throws an exception.

Reimplemented from gtsam::Factor.

Definition at line 30 of file SymbolicFactor.cpp.

◆ FromIterators()

template<typename KEYITERATOR >

static SymbolicFactor gtsam::SymbolicFactor::FromIterators	(	KEYITERATOR	beginKey,
		KEYITERATOR	endKey
	)

inlinestatic

Constructor from a collection of keys

Definition at line 112 of file SymbolicFactor.h.

◆ FromIteratorsShared()

template<typename KEYITERATOR >

static SymbolicFactor::shared_ptr gtsam::SymbolicFactor::FromIteratorsShared	(	KEYITERATOR	beginKey,
		KEYITERATOR	endKey
	)

inlinestatic

Constructor from a collection of keys

Definition at line 118 of file SymbolicFactor.h.

◆ FromKeys()

template<class CONTAINER >

static SymbolicFactor gtsam::SymbolicFactor::FromKeys ( const CONTAINER & keys )

inlinestatic

Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of

Definition at line 127 of file SymbolicFactor.h.

◆ FromKeysShared()

template<class CONTAINER >

static SymbolicFactor::shared_ptr gtsam::SymbolicFactor::FromKeysShared ( const CONTAINER & keys )

inlinestatic

Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of

Definition at line 134 of file SymbolicFactor.h.

◆ print()

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

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 93 of file SymbolicFactor.h.

◆ printKeys()

void gtsam::SymbolicFactor::printKeys	(	const std::string &	s = `"SymbolicFactor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print only keys

Reimplemented from gtsam::Factor.

Definition at line 100 of file SymbolicFactor.h.

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

Public Types

Standard Constructors

Testable

Advanced Constructors

Standard Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ ConditionalType

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ SymbolicFactor() [1/8]

◆ SymbolicFactor() [2/8]

◆ SymbolicFactor() [3/8]

◆ SymbolicFactor() [4/8]

◆ SymbolicFactor() [5/8]

◆ SymbolicFactor() [6/8]

◆ SymbolicFactor() [7/8]

◆ SymbolicFactor() [8/8]

Member Function Documentation

◆ clone()

◆ eliminate()

◆ equals()

◆ error()

◆ FromIterators()

◆ FromIteratorsShared()

◆ FromKeys()

◆ FromKeysShared()

◆ print()

◆ printKeys()