#include <DiscreteFactor.h>

Inheritance diagram for gtsam::DiscreteFactor:

[legend]

Public Types
typedef Factor	Base
	Our base class. More...

using	Binary = std::function< double(const double, const double)>

typedef std::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class More...

typedef DiscreteFactor	This
	This class. More...

using	Unary = std::function< double(const double &)>

using	UnaryAssignment = std::function< double(const Assignment< Key > &, const double &)>

using	Values = DiscreteValues
	backwards compatibility 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
Standard Constructors
	DiscreteFactor ()

template<typename CONTAINER >
	DiscreteFactor (const CONTAINER &keys, const std::map< Key, size_t > cardinalities={})

Testable
virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const
	equals More...

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

Standard Interface
DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor. More...

std::map< Key, size_t >	cardinalities () const

size_t	cardinality (Key j) const

virtual double	evaluate (const Assignment< Key > &values) const =0
	Calculate probability for given values. Calls specialized evaluation under the hood. More...

double	operator() (const DiscreteValues &values) const
	Find value for given assignment of values to variables. More...

virtual double	error (const DiscreteValues &values) const
	Error is just -log(value) More...

double	error (const HybridValues &c) const override

virtual AlgebraicDecisionTree< Key >	errorTree () const
	Compute error for each assignment and return as a tree. More...

virtual DecisionTreeFactor	operator* (const DecisionTreeFactor &) const =0

virtual DecisionTreeFactor	toDecisionTreeFactor () const =0

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 ()

Protected Attributes
std::map< Key, size_t >	cardinalities_
	Map of Keys and their cardinalities. More...

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings. More...

virtual std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as markdown table. More...

virtual std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as html table. More...

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)

Detailed Description

Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor

DecisionTreeFactor, which represent a discrete distribution over a set of variables.

Hybrid factors, such as

Definition at line 39 of file DiscreteFactor.h.

Member Typedef Documentation

◆ Base

typedef Factor gtsam::DiscreteFactor::Base

Our base class.

Definition at line 45 of file DiscreteFactor.h.

◆ Binary

using gtsam::DiscreteFactor::Binary = std::function<double(const double, const double)>

Definition at line 52 of file DiscreteFactor.h.

◆ Names

using gtsam::DiscreteFactor::Names = DiscreteValues::Names

Translation table from values to strings.

Definition at line 139 of file DiscreteFactor.h.

◆ shared_ptr

typedef std::shared_ptr<DiscreteFactor> gtsam::DiscreteFactor::shared_ptr

shared_ptr to this class

Definition at line 44 of file DiscreteFactor.h.

◆ This

typedef DiscreteFactor gtsam::DiscreteFactor::This

This class.

Definition at line 42 of file DiscreteFactor.h.

◆ Unary

using gtsam::DiscreteFactor::Unary = std::function<double(const double&)>

Definition at line 49 of file DiscreteFactor.h.

◆ UnaryAssignment

using gtsam::DiscreteFactor::UnaryAssignment = std::function<double(const Assignment<Key>&, const double&)>

Definition at line 51 of file DiscreteFactor.h.

◆ Values

using gtsam::DiscreteFactor::Values = DiscreteValues

backwards compatibility

Definition at line 47 of file DiscreteFactor.h.

Constructor & Destructor Documentation

◆ DiscreteFactor() [1/2]

gtsam::DiscreteFactor::DiscreteFactor ( )

inline

Default constructor creates empty factor

Definition at line 63 of file DiscreteFactor.h.

◆ DiscreteFactor() [2/2]

template<typename CONTAINER >

gtsam::DiscreteFactor::DiscreteFactor	(	const CONTAINER &	keys,
		const std::map< Key, size_t >	cardinalities = `{}`
	)

inline

Construct from container of keys and map of cardinalities. This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

Definition at line 71 of file DiscreteFactor.h.

Member Function Documentation

◆ cardinalities()

std::map<Key, size_t> gtsam::DiscreteFactor::cardinalities ( ) const

inline

Definition at line 96 of file DiscreteFactor.h.

◆ cardinality()

size_t gtsam::DiscreteFactor::cardinality ( Key j ) const

inline

Definition at line 98 of file DiscreteFactor.h.

◆ discreteKeys()

DiscreteKeys DiscreteFactor::discreteKeys ( ) const

Return all the discrete keys associated with this factor.

Definition at line 37 of file DiscreteFactor.cpp.

◆ equals()

bool DiscreteFactor::equals	(	const DiscreteFactor &	lf,
		double	tol = `1e-9`
	)		const

virtual

equals

Reimplemented in gtsam::DiscreteConditional, gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::SingleValue, gtsam::BinaryAllDiff, and gtsam::AllDiff.

Definition at line 32 of file DiscreteFactor.cpp.

◆ error() [1/2]

double DiscreteFactor::error ( const DiscreteValues & values ) const

virtual

Error is just -log(value)

Reimplemented in gtsam::TableFactor, and gtsam::DecisionTreeFactor.

Definition at line 49 of file DiscreteFactor.cpp.

◆ error() [2/2]

double DiscreteFactor::error ( const HybridValues & c ) const

overridevirtual

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::TableFactor.

Definition at line 54 of file DiscreteFactor.cpp.

◆ errorTree()

AlgebraicDecisionTree< Key > DiscreteFactor::errorTree ( ) const

virtual

Compute error for each assignment and return as a tree.

Reimplemented in gtsam::BinaryAllDiff, gtsam::Domain, gtsam::AllDiff, and gtsam::SingleValue.

Definition at line 59 of file DiscreteFactor.cpp.

◆ evaluate()

virtual double gtsam::DiscreteFactor::evaluate ( const Assignment< Key > & values ) const

pure virtual

Calculate probability for given values. Calls specialized evaluation under the hood.

Note: Uses Assignment<Key> as it is the base class of DiscreteValues.

Parameters

values Discrete assignment.

Returns: double

Implemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::SingleValue, gtsam::BinaryAllDiff, and gtsam::AllDiff.

◆ html()

virtual std::string gtsam::DiscreteFactor::html	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

pure virtual

Render as html table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a html string.

Implemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::Constraint.

◆ markdown()

virtual std::string gtsam::DiscreteFactor::markdown	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const Names &	names = `{}`
	)		const

pure virtual

Render as markdown table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a markdown string.

Implemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, and gtsam::Constraint.

◆ operator()()

double gtsam::DiscreteFactor::operator() ( const DiscreteValues & values ) const

inline

Find value for given assignment of values to variables.

Definition at line 112 of file DiscreteFactor.h.

◆ operator*()

virtual DecisionTreeFactor gtsam::DiscreteFactor::operator* ( const DecisionTreeFactor & ) const

pure virtual

Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor

Implemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::BinaryAllDiff, gtsam::SingleValue, and gtsam::AllDiff.

◆ print()

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

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::TableFactor, gtsam::DiscreteLookupTable, gtsam::Domain, gtsam::SingleValue, gtsam::AllDiff, and gtsam::BinaryAllDiff.

Definition at line 83 of file DiscreteFactor.h.

◆ toDecisionTreeFactor()

virtual DecisionTreeFactor gtsam::DiscreteFactor::toDecisionTreeFactor ( ) const

pure virtual

Implemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::Domain, gtsam::SingleValue, gtsam::BinaryAllDiff, and gtsam::AllDiff.

Member Data Documentation

◆ cardinalities_

std::map<Key, size_t> gtsam::DiscreteFactor::cardinalities_

protected

Map of Keys and their cardinalities.

Definition at line 56 of file DiscreteFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Wrapper support

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Binary

◆ Names

◆ shared_ptr

◆ This

◆ Unary

◆ UnaryAssignment

◆ Values

Constructor & Destructor Documentation

◆ DiscreteFactor() [1/2]

◆ DiscreteFactor() [2/2]

Member Function Documentation

◆ cardinalities()

◆ cardinality()

◆ discreteKeys()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ errorTree()

◆ evaluate()

◆ html()

◆ markdown()

◆ operator()()

◆ operator*()

◆ print()

◆ toDecisionTreeFactor()

Member Data Documentation

◆ cardinalities_