#include <HybridConditional.h>

Inheritance diagram for gtsam::HybridConditional:

[legend]

Public Types
typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to our conditional base class. More...

typedef HybridFactor	BaseFactor
	Typedef to our factor base class. More...

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

typedef HybridConditional	This
	Typedef to this class. More...

Public Types inherited from gtsam::HybridFactor
typedef Factor	Base
	Our base class. More...

enum	Category { Category::None, Category::Discrete, Category::Continuous, Category::Hybrid }
	Enum to help with categorizing hybrid factors. More...

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

typedef HybridFactor	This
	This class. 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 Types inherited from gtsam::Conditional< HybridFactor, HybridConditional >
typedef std::pair< typename HybridFactor ::const_iterator, typename HybridFactor ::const_iterator >	ConstFactorRange

typedef ConstFactorRangeIterator	Frontals

typedef ConstFactorRangeIterator	Parents

Public Member Functions
Standard Constructors
	HybridConditional ()=default
	Default constructor needed for serialization. More...

	HybridConditional (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, size_t nFrontals)
	Construct a new Hybrid Conditional object. More...

	HybridConditional (const KeyVector &continuousFrontals, const DiscreteKeys &discreteFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents)
	Construct a new Hybrid Conditional object. More...

	HybridConditional (const std::shared_ptr< GaussianConditional > &continuousConditional)
	Construct a new Hybrid Conditional object. More...

	HybridConditional (const std::shared_ptr< DiscreteConditional > &discreteConditional)
	Construct a new Hybrid Conditional object. More...

	HybridConditional (const std::shared_ptr< HybridGaussianConditional > &hybridGaussianCond)
	Construct a new Hybrid Conditional object. More...

Testable
void	print (const std::string &s="Hybrid Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	GTSAM-style print. More...

bool	equals (const HybridFactor &other, double tol=1e-9) const override
	GTSAM-style equals. More...

Standard Interface
HybridGaussianConditional::shared_ptr	asHybrid () const
	Return HybridConditional as a HybridGaussianConditional. More...

GaussianConditional::shared_ptr	asGaussian () const
	Return HybridConditional as a GaussianConditional. More...

DiscreteConditional::shared_ptr	asDiscrete () const
	Return conditional as a DiscreteConditional. More...

std::shared_ptr< Factor >	inner () const
	Get the type-erased pointer to the inner type. More...

double	error (const HybridValues &values) const override
	Return the error of the underlying conditional. More...

AlgebraicDecisionTree< Key >	errorTree (const VectorValues &values) const override
	Compute error of the HybridConditional as a tree. More...

double	logProbability (const HybridValues &values) const override
	Return the log-probability (or density) of the underlying conditional. More...

double	negLogConstant () const override

double	evaluate (const HybridValues &values) const override
	Return the probability (or density) of the underlying conditional. More...

bool	frontalsIn (const VectorValues &measurements) const
	Check if VectorValues `measurements` contains all frontal keys. More...

Public Member Functions inherited from gtsam::HybridFactor
	HybridFactor ()=default

	HybridFactor (const KeyVector &keys)
	Construct hybrid factor from continuous keys. More...

	HybridFactor (const DiscreteKeys &discreteKeys)
	Construct hybrid factor from discrete keys. More...

	HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
	Construct a new Hybrid Factor object. More...

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

bool	isDiscrete () const
	True if this is a factor of discrete variables only. More...

bool	isContinuous () const
	True if this is a factor of continuous variables only. More...

bool	isHybrid () const
	True is this is a Discrete-Continuous factor. More...

size_t	nrContinuous () const
	Return the number of continuous variables in this factor. More...

const DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor. More...

const KeyVector &	continuousKeys () const
	Return only the continuous keys for this factor. More...

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 ()

Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const

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

virtual	~Conditional ()

size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar. More...

virtual double	negLogConstant () const
	All conditional types need to implement this as the negative log of the normalization constant to make it such that error>=0. More...

size_t &	nrFrontals ()

HybridFactor ::const_iterator	beginFrontals () const

HybridFactor ::iterator	beginFrontals ()

HybridFactor ::const_iterator	endFrontals () const

HybridFactor ::iterator	endFrontals ()

HybridFactor ::const_iterator	beginParents () const

HybridFactor ::iterator	beginParents ()

HybridFactor ::const_iterator	endParents () const

HybridFactor ::iterator	endParents ()

Protected Attributes
std::shared_ptr< Factor >	inner_
	Type-erased pointer to the inner type. More...

Protected Attributes inherited from gtsam::HybridFactor
KeyVector	continuousKeys_
	Record continuous keys for book-keeping. More...

DiscreteKeys	discreteKeys_

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

Protected Attributes inherited from gtsam::Conditional< HybridFactor, HybridConditional >
size_t	nrFrontals_

Additional Inherited Members
Static Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
static bool	CheckInvariants (const HybridConditional &conditional, const VALUES &x)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Protected Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
	Conditional ()

	Conditional (size_t nrFrontals)

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

Hybrid Conditional Density

As a type-erased variant of:

The reason why this is important is that Conditional<T> is a CRTP class. CRTP is static polymorphism such that all CRTP classes, while bearing the same name, are different classes not sharing a vtable. This prevents them from being contained in any container, and thus it is impossible to dynamically cast between them. A better option, as illustrated here, is treating them as an implementation detail - such that the hybrid mechanism does not know what is inside the HybridConditional. This prevents us from having diamond inheritances, and neutralized the need to change other components of GTSAM to make hybrid elimination work.

A great reference to the type-erasure pattern is Eduardo Madrid's CppCon talk (https://www.youtube.com/watch?v=s082Qmd_nHs).

Definition at line 60 of file HybridConditional.h.

Member Typedef Documentation

◆ BaseConditional

typedef Conditional<BaseFactor, This> gtsam::HybridConditional::BaseConditional

Typedef to our conditional base class.

Definition at line 69 of file HybridConditional.h.

◆ BaseFactor

typedef HybridFactor gtsam::HybridConditional::BaseFactor

Typedef to our factor base class.

Definition at line 67 of file HybridConditional.h.

◆ shared_ptr

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

shared_ptr to this class

Definition at line 66 of file HybridConditional.h.

◆ This

typedef HybridConditional gtsam::HybridConditional::This

Typedef to this class.

Definition at line 65 of file HybridConditional.h.

Constructor & Destructor Documentation

◆ HybridConditional() [1/6]

gtsam::HybridConditional::HybridConditional ( )

default

Default constructor needed for serialization.