HybridValues.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/Values.h>
 
#include <map>
#include <string>
#include <vector>
 
namespace gtsam {
 
class GTSAM_EXPORT HybridValues {
 private:
  VectorValues continuous_;
 
  DiscreteValues discrete_;
 
  Values nonlinear_;
 
 public:
 
  HybridValues() = default;
 
  HybridValues(const VectorValues& cv, const DiscreteValues& dv);
 
  HybridValues(const VectorValues& cv, const DiscreteValues& dv,
               const Values& v);
 
 
  void print(const std::string& s = "HybridValues",
             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
  bool equals(const HybridValues& other, double tol = 1e-9) const;
 
 
  const VectorValues& continuous() const;
 
  const DiscreteValues& discrete() const;
 
  const Values& nonlinear() const;
 
  bool existsVector(Key j);
 
  bool existsDiscrete(Key j);
 
  bool existsNonlinear(Key j);
 
  bool exists(Key j);
 
  HybridValues retract(const VectorValues& delta) const;
 
  void insert(Key j, const Vector& value);
 
  void insert(Key j, size_t value);
 
  void insert_or_assign(Key j, const Vector& value);
 
  void insert_or_assign(Key j, size_t value);
 
  HybridValues& insert(const VectorValues& values);
 
  HybridValues& insert(const DiscreteValues& values);
 
  HybridValues& insert(const Values& values);
 
  HybridValues& insert(const HybridValues& values);
 
  Vector& at(Key j);
 
  size_t& atDiscrete(Key j);
 
  HybridValues& update(const VectorValues& values);
 
  HybridValues& update(const DiscreteValues& values);
 
  HybridValues& update(const HybridValues& values);
 
  VectorValues continuousSubset(const KeyVector& keys) const;
 
 
  std::string html(
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
};
 
// traits
template <>
struct traits<HybridValues> : public Testable<HybridValues> {};
 
}  // namespace gtsam