#include <VectorValues.h>
Public Types | |
typedef Values::const_iterator | const_iterator |
Const iterator over vector values. More... | |
typedef std::map< Key, size_t > | Dims |
Keyed vector dimensions. More... | |
typedef Values::iterator | iterator |
Iterator over vector values. More... | |
typedef value_type | KeyValuePair |
Typedef to pair<Key, Vector> More... | |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class More... | |
typedef Values::value_type | value_type |
Typedef to pair<Key, Vector> More... | |
Public Member Functions | |
Advanced Interface | |
Vector | vector () const |
template<typename CONTAINER > | |
Vector | vector (const CONTAINER &keys) const |
Vector | vector (const Dims &dims) const |
void | swap (VectorValues &other) |
bool | hasSameStructure (const VectorValues other) const |
Wrapper support | |
std::string | html (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Output as a html table. More... | |
Protected Types | |
typedef VectorValues | This |
typedef ConcurrentMap< Key, Vector > | Values |
Collection of Vectors making up a VectorValues. More... | |
Protected Attributes | |
Values | values_ |
Vectors making up this VectorValues. More... | |
Standard Constructors | |
VectorValues () | |
Default constructor creates an empty VectorValues. More... | |
VectorValues (std::initializer_list< std::pair< Key, Vector >> init) | |
Construct from initializer list. More... | |
VectorValues (const VectorValues &first, const VectorValues &second) | |
template<class CONTAINER > | |
VectorValues (const CONTAINER &c) | |
VectorValues (const VectorValues &c) | |
template<typename ITERATOR > | |
VectorValues (ITERATOR first, ITERATOR last) | |
VectorValues (const Vector &c, const Dims &dims) | |
Constructor from Vector, with Dims. More... | |
VectorValues (const Vector &c, const Scatter &scatter) | |
Constructor from Vector, with Scatter. More... | |
static VectorValues | Zero (const VectorValues &other) |
Standard Interface | |
size_t | size () const |
size_t | dim (Key j) const |
bool | exists (Key j) const |
Vector & | at (Key j) |
const Vector & | at (Key j) const |
Vector & | operator[] (Key j) |
const Vector & | operator[] (Key j) const |
VectorValues & | update (const VectorValues &values) |
iterator | insert (const std::pair< Key, Vector > &key_value) |
template<class... Args> | |
std::pair< VectorValues::iterator, bool > | emplace (Key j, Args &&... args) |
iterator | insert (Key j, const Vector &value) |
VectorValues & | insert (const VectorValues &values) |
std::pair< iterator, bool > | tryInsert (Key j, const Vector &value) |
void | insert_or_assign (Key j, const Vector &value) |
void | erase (Key var) |
void | setZero () |
iterator | begin () |
Iterator over variables. More... | |
const_iterator | begin () const |
Iterator over variables. More... | |
iterator | end () |
Iterator over variables. More... | |
const_iterator | end () const |
Iterator over variables. More... | |
iterator | find (Key j) |
const_iterator | find (Key j) const |
void | print (const std::string &str="VectorValues", const KeyFormatter &formatter=DefaultKeyFormatter) const |
bool | equals (const VectorValues &x, double tol=1e-9) const |
GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &, const VectorValues &) |
overload operator << to print to stringstream More... | |
Linear algebra operations | |
double | dot (const VectorValues &v) const |
double | norm () const |
double | squaredNorm () const |
VectorValues | operator+ (const VectorValues &c) const |
VectorValues | add (const VectorValues &c) const |
VectorValues & | operator+= (const VectorValues &c) |
VectorValues & | addInPlace (const VectorValues &c) |
VectorValues & | addInPlace_ (const VectorValues &c) |
VectorValues | operator- (const VectorValues &c) const |
VectorValues | subtract (const VectorValues &c) const |
VectorValues | scale (const double a) const |
VectorValues & | operator*= (double alpha) |
VectorValues & | scaleInPlace (double alpha) |
GTSAM_EXPORT VectorValues | operator* (const double a, const VectorValues &v) |
VectorValues represents a collection of vector-valued variables associated each with a unique integer index. It is typically used to store the variables of a GaussianFactorGraph. Optimizing a GaussianFactorGraph or GaussianBayesNet returns this class.
For basic usage, such as receiving a linear solution from gtsam solving functions, or creating this class in unit tests and examples where speed is not important, you can use a simple interface:
Example:
Access is through the variable Key j, and returns a SubVector, which is a view on the underlying data structure.
This class is additionally used in gradient descent and dog leg to store the gradient.
Definition at line 74 of file VectorValues.h.
typedef Values::const_iterator gtsam::VectorValues::const_iterator |
Const iterator over vector values.
Definition at line 82 of file VectorValues.h.
typedef std::map<Key, size_t> gtsam::VectorValues::Dims |
Keyed vector dimensions.
Definition at line 86 of file VectorValues.h.
typedef Values::iterator gtsam::VectorValues::iterator |
Iterator over vector values.
Definition at line 81 of file VectorValues.h.
Typedef to pair<Key, Vector>
Definition at line 85 of file VectorValues.h.
typedef std::shared_ptr<This> gtsam::VectorValues::shared_ptr |
shared_ptr to this class
Definition at line 83 of file VectorValues.h.
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protected |
Definition at line 76 of file VectorValues.h.
typedef Values::value_type gtsam::VectorValues::value_type |
Typedef to pair<Key, Vector>
Definition at line 84 of file VectorValues.h.
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protected |
Collection of Vectors making up a VectorValues.
Definition at line 77 of file VectorValues.h.
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inline |
Default constructor creates an empty VectorValues.
Definition at line 92 of file VectorValues.h.
Construct from initializer list.
Definition at line 95 of file VectorValues.h.
VectorValues::VectorValues | ( | const VectorValues & | first, |
const VectorValues & | second | ||
) |
Merge two VectorValues into one, this is more efficient than inserting elements one by one.
Definition at line 31 of file VectorValues.cpp.
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inlineexplicit |
Create from another container holding pair<Key,Vector>.
Definition at line 104 of file VectorValues.h.
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inline |
Implicit copy constructor to specialize the explicit constructor from any container.
Definition at line 107 of file VectorValues.h.
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inline |
Create from a pair of iterators over pair<Key,Vector>.
Definition at line 111 of file VectorValues.h.
Constructor from Vector, with Dims.
Definition at line 42 of file VectorValues.cpp.
Constructor from Vector, with Scatter.
Definition at line 55 of file VectorValues.cpp.
VectorValues VectorValues::add | ( | const VectorValues & | c | ) | const |
Element-wise addition, synonym for operator+(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 279 of file VectorValues.cpp.
VectorValues & VectorValues::addInPlace | ( | const VectorValues & | c | ) |
Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 302 of file VectorValues.cpp.
VectorValues & VectorValues::addInPlace_ | ( | const VectorValues & | c | ) |
Element-wise addition in-place, but allows for empty slots in *this. Slower
Definition at line 308 of file VectorValues.cpp.
Read/write access to the vector value with key j
, throws std::out_of_range if j
does not exist, identical to operator[](Key).
Definition at line 139 of file VectorValues.h.
Access the vector value with key j
(const version), throws std::out_of_range if j
does not exist, identical to operator[](Key).
Definition at line 152 of file VectorValues.h.
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inline |
Iterator over variables.
Definition at line 236 of file VectorValues.h.
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inline |
Iterator over variables.
Definition at line 237 of file VectorValues.h.
Return the dimension of variable j
.
Definition at line 130 of file VectorValues.h.
double VectorValues::dot | ( | const VectorValues & | v | ) | const |
Dot product with another VectorValues, interpreting both as vectors of their concatenated values. Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 227 of file VectorValues.cpp.
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inline |
Emplace a vector value
with key j
. Throws an invalid_argument exception if the key j
is already used.
value | The vector to be inserted. |
j | The index with which the value will be associated. |
Definition at line 185 of file VectorValues.h.
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inline |
Iterator over variables.
Definition at line 238 of file VectorValues.h.
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inline |
Iterator over variables.
Definition at line 239 of file VectorValues.h.
bool VectorValues::equals | ( | const VectorValues & | x, |
double | tol = 1e-9 |
||
) | const |
equals required by Testable for unit testing
Definition at line 156 of file VectorValues.cpp.
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inline |
Erase the vector with the given key, or throw std::out_of_range if it does not exist
Definition at line 226 of file VectorValues.h.
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inline |
Check whether a variable with key j
exists.
Definition at line 133 of file VectorValues.h.
Return the iterator corresponding to the requested key, or end() if no variable is present with this key.
Definition at line 245 of file VectorValues.h.
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inline |
Return the iterator corresponding to the requested key, or end() if no variable is present with this key.
Definition at line 251 of file VectorValues.h.
bool VectorValues::hasSameStructure | ( | const VectorValues | other | ) | const |
Check if this VectorValues has the same structure (keys and dimensions) as another
Definition at line 218 of file VectorValues.cpp.
std::string VectorValues::html | ( | const KeyFormatter & | keyFormatter = DefaultKeyFormatter | ) | const |
Output as a html table.
keyFormatter | function that formats keys. |
Definition at line 380 of file VectorValues.cpp.
VectorValues::iterator VectorValues::insert | ( | const std::pair< Key, Vector > & | key_value | ) |
Insert a vector value
with key j
. Throws an invalid_argument exception if the key j
is already used.
value | The vector to be inserted. |
j | The index with which the value will be associated. |
Definition at line 81 of file VectorValues.cpp.
Insert a vector value
with key j
. Throws an invalid_argument exception if the key j
is already used.
value | The vector to be inserted. |
j | The index with which the value will be associated. |
Definition at line 197 of file VectorValues.h.
VectorValues & VectorValues::insert | ( | const VectorValues & | values | ) |
Insert all values from values
. Throws an invalid_argument exception if any keys to be inserted are already used.
Definition at line 111 of file VectorValues.cpp.
insert_or_assign that mimics the STL map insert_or_assign - if the value already exists, the map is updated, otherwise a new value is inserted at j.
Definition at line 219 of file VectorValues.h.
double VectorValues::norm | ( | ) | const |
Vector L2 norm
Definition at line 245 of file VectorValues.cpp.
VectorValues & VectorValues::operator*= | ( | double | alpha | ) |
Element-wise scaling by a constant in-place.
Definition at line 365 of file VectorValues.cpp.
VectorValues VectorValues::operator+ | ( | const VectorValues & | c | ) | const |
Element-wise addition, synonym for add(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 259 of file VectorValues.cpp.
VectorValues & VectorValues::operator+= | ( | const VectorValues & | c | ) |
Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 285 of file VectorValues.cpp.
VectorValues VectorValues::operator- | ( | const VectorValues & | c | ) | const |
Element-wise subtraction, synonym for subtract(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 321 of file VectorValues.cpp.
Read/write access to the vector value with key j
, throws std::out_of_range if j
does not exist, identical to at(Key).
Definition at line 163 of file VectorValues.h.
Access the vector value with key j
(const version), throws std::out_of_range if j
does not exist, identical to at(Key).
Definition at line 167 of file VectorValues.h.
void VectorValues::print | ( | const std::string & | str = "VectorValues" , |
const KeyFormatter & | formatter = DefaultKeyFormatter |
||
) | const |
print required by Testable for unit testing
Definition at line 148 of file VectorValues.cpp.
VectorValues VectorValues::scale | ( | const double | a | ) | const |
Element-wise scaling by a constant.
Definition at line 359 of file VectorValues.cpp.
VectorValues & VectorValues::scaleInPlace | ( | double | alpha | ) |
Element-wise scaling by a constant in-place.
Definition at line 374 of file VectorValues.cpp.
void VectorValues::setZero | ( | ) |
Set all values to zero vectors.
Definition at line 122 of file VectorValues.cpp.
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inline |
Number of variables stored.
Definition at line 127 of file VectorValues.h.
double VectorValues::squaredNorm | ( | ) | const |
Squared vector L2 norm
Definition at line 250 of file VectorValues.cpp.
VectorValues VectorValues::subtract | ( | const VectorValues & | c | ) | const |
Element-wise subtraction, synonym for operator-(). Both VectorValues must have the same structure (checked when NDEBUG is not defined).
Definition at line 341 of file VectorValues.cpp.
void VectorValues::swap | ( | VectorValues & | other | ) |
Swap the data in this VectorValues with another.
Definition at line 204 of file VectorValues.cpp.
insert that mimics the STL map insert - if the value already exists, the map is not modified and an iterator to the existing value is returned, along with 'false'. If the value did not exist, it is inserted and an iterator pointing to the new element, along with 'true', is returned.
Definition at line 209 of file VectorValues.h.
VectorValues & VectorValues::update | ( | const VectorValues & | values | ) |
For all key/value pairs in values
, replace values with corresponding keys in this class with those in values
. Throws std::out_of_range if any keys in values
are not present in this class.
Definition at line 91 of file VectorValues.cpp.
Vector VectorValues::vector | ( | ) | const |
Retrieve the entire solution as a single vector
Definition at line 170 of file VectorValues.cpp.
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inline |
Access a vector that is a subset of relevant keys.
Definition at line 272 of file VectorValues.h.
Access a vector that is a subset of relevant keys, dims version.
Definition at line 188 of file VectorValues.cpp.
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static |
Create a VectorValues with the same structure as other
, but filled with zeros.
Definition at line 68 of file VectorValues.cpp.
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friend |
Element-wise scaling by a constant.
Definition at line 347 of file VectorValues.cpp.
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friend |
overload operator << to print to stringstream
Definition at line 130 of file VectorValues.cpp.
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protected |
Vectors making up this VectorValues.
Definition at line 78 of file VectorValues.h.