HybridGaussianFactorGraph.cpp File Reference

Hybrid factor graph that uses type erasure. More...

#include <gtsam/base/utilities.h>
#include <gtsam/discrete/Assignment.h>
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/discrete/DiscreteEliminationTree.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/discrete/DiscreteJunctionTree.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/HybridConditional.h>
#include <gtsam/hybrid/HybridEliminationTree.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridGaussianConditional.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/hybrid/HybridJunctionTree.h>
#include <gtsam/inference/EliminateableFactorGraph-inst.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/GaussianConditional.h>
#include <gtsam/linear/GaussianEliminationTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/GaussianJunctionTree.h>
#include <gtsam/linear/HessianFactor.h>
#include <gtsam/linear/JacobianFactor.h>
#include <cstddef>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <utility>
#include <vector>

Include dependency graph for HybridGaussianFactorGraph.cpp:

Go to the source code of this file.

Classes
struct	gtsam::Result
	Result from elimination. More...

Namespaces
	gtsam
	traits

Typedefs
using	gtsam::OrphanWrapper = BayesTreeOrphanWrapper< HybridBayesTree::Clique >
using	gtsam::ResultTree = DecisionTree< Key, Result >

Functions
static std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	gtsam::continuousElimination (const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
static std::shared_ptr< Factor >	gtsam::createDiscreteFactor (const ResultTree &eliminationResults, const DiscreteKeys &discreteSeparator)
static std::shared_ptr< Factor >	gtsam::createHybridGaussianFactor (const ResultTree &eliminationResults, const DiscreteKeys &discreteSeparator)
static std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	gtsam::discreteElimination (const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
static DecisionTreeFactor::shared_ptr	gtsam::DiscreteFactorFromErrors (const DiscreteKeys &discreteKeys, const AlgebraicDecisionTree< Key > &errors)
	Take negative log-values, shift them so that the minimum value is 0, and then exponentiate to create a DecisionTreeFactor (not normalized yet!). More...
std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	gtsam::EliminateHybrid (const HybridGaussianFactorGraph &factors, const Ordering &keys)
	Main elimination function for HybridGaussianFactorGraph. More...
const Ordering	gtsam::HybridOrdering (const HybridGaussianFactorGraph &graph)
	Return a Colamd constrained ordering where the discrete keys are eliminated after the continuous keys. More...
static void	gtsam::printFactor (const std::shared_ptr< Factor > &factor, const DiscreteValues &assignment, const KeyFormatter &keyFormatter)
static void	gtsam::throwRuntimeError (const std::string &s, const std::shared_ptr< Factor > &f)

Variables
static auto	gtsam::GetDiscreteKeys
	Get the discrete keys from the HybridGaussianFactorGraph as DiscreteKeys. More...
static const VectorValues	gtsam::kEmpty

Detailed Description

Hybrid factor graph that uses type erasure.

Author

Fan Jiang

Varun Agrawal

Frank Dellaert

Date

Mar 11, 2022

Definition in file HybridGaussianFactorGraph.cpp.