Public Types | List of all members
gtsam::HybridGaussianProductFactor Class Reference

Alias for DecisionTree of GaussianFactorGraphs and their scalar sums. More...

#include <HybridGaussianProductFactor.h>

Inheritance diagram for gtsam::HybridGaussianProductFactor:
Inheritance graph
[legend]

Public Types

using Base = DecisionTree< Key, GaussianFactorGraphValuePair >
 
- Public Types inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
using Binary = std::function< GaussianFactorGraphValuePair(const GaussianFactorGraphValuePair &, const GaussianFactorGraphValuePair &)>
 
using CompareFunc = std::function< bool(const GaussianFactorGraphValuePair &, const GaussianFactorGraphValuePair &)>
 
using LabelC = std::pair< Key, size_t >
 
using LabelFormatter = std::function< std::string(Key)>
 
using NodePtr = typename Node::Ptr
 
using Unary = std::function< GaussianFactorGraphValuePair(const GaussianFactorGraphValuePair &)>
 
using UnaryAssignment = std::function< GaussianFactorGraphValuePair(const Assignment< Key > &, const GaussianFactorGraphValuePair &)>
 
using ValueFormatter = std::function< std::string(GaussianFactorGraphValuePair)>
 

Public Member Functions

Constructors
 HybridGaussianProductFactor ()=default
 Default constructor. More...
 
template<class FACTOR >
 HybridGaussianProductFactor (const std::shared_ptr< FACTOR > &factor)
 Construct from a single factor. More...
 
 HybridGaussianProductFactor (Base &&tree)
 Construct from DecisionTree. More...
 
Operators
HybridGaussianProductFactor operator+ (const GaussianFactor::shared_ptr &factor) const
 Add GaussianFactor into HybridGaussianProductFactor. More...
 
HybridGaussianProductFactor operator+ (const HybridGaussianFactor &factor) const
 Add HybridGaussianFactor into HybridGaussianProductFactor. More...
 
HybridGaussianProductFactoroperator+= (const GaussianFactor::shared_ptr &factor)
 Add-assign operator for GaussianFactor. More...
 
HybridGaussianProductFactoroperator+= (const HybridGaussianFactor &factor)
 Add-assign operator for HybridGaussianFactor. More...
 
Testable
void print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
 Print the HybridGaussianProductFactor. More...
 
bool equals (const HybridGaussianProductFactor &other, double tol=1e-9) const
 Check if this HybridGaussianProductFactor is equal to another. More...
 
Other methods
HybridGaussianProductFactor removeEmpty () const
 Remove empty GaussianFactorGraphs from the decision tree. More...
 
- Public Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
 DecisionTree ()
 
 DecisionTree (const GaussianFactorGraphValuePair &y)
 
 DecisionTree (const Key &label, const GaussianFactorGraphValuePair &y1, const GaussianFactorGraphValuePair &y2)
 Create tree with 2 assignments y1, y2, splitting on variable label More...
 
 DecisionTree (const LabelC &label, const GaussianFactorGraphValuePair &y1, const GaussianFactorGraphValuePair &y2)
 
 DecisionTree (const std::vector< LabelC > &labelCs, const std::vector< GaussianFactorGraphValuePair > &ys)
 
 DecisionTree (const std::vector< LabelC > &labelCs, const std::string &table)
 
 DecisionTree (Iterator begin, Iterator end, const Key &label)
 
 DecisionTree (const Key &label, const DecisionTree &f0, const DecisionTree &f1)
 
 DecisionTree (const Unary &op, DecisionTree &&other) noexcept
 Move constructor for DecisionTree. Very efficient as does not allocate anything, just changes in-place. But other is consumed. More...
 
 DecisionTree (const DecisionTree< Key, X > &other, Func Y_of_X)
 Convert from a different value type. More...
 
 DecisionTree (const DecisionTree< M, X > &other, const std::map< M, Key > &map, Func Y_of_X)
 Convert from a different value type X to value type Y, also translate labels via map from type M to L. More...
 
void print (const std::string &s, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter) const
 GTSAM-style print. More...
 
bool equals (const DecisionTree &other, const CompareFunc &compare=&DefaultCompare) const
 
virtual ~DecisionTree ()=default
 Make virtual. More...
 
bool empty () const
 Check if tree is empty. More...
 
bool operator== (const DecisionTree &q) const
 
const GaussianFactorGraphValuePairoperator() (const Assignment< Key > &x) const
 
void visit (Func f) const
 Visit all leaves in depth-first fashion. More...
 
void visitLeaf (Func f) const
 Visit all leaves in depth-first fashion. More...
 
void visitWith (Func f) const
 Visit all leaves in depth-first fashion. More...
 
size_t nrLeaves () const
 Return the number of leaves in the tree. More...
 
X fold (Func f, X x0) const
 Fold a binary function over the tree, returning accumulator. More...
 
std::set< Keylabels () const
 
DecisionTree apply (const Unary &op) const
 
DecisionTree apply (const UnaryAssignment &op) const
 Apply Unary operation "op" to f while also providing the corresponding assignment. More...
 
DecisionTree apply (const DecisionTree &g, const Binary &op) const
 
DecisionTree choose (const Key &label, size_t index) const
 
DecisionTree combine (const Key &label, size_t cardinality, const Binary &op) const
 
DecisionTree combine (const LabelC &labelC, const Binary &op) const
 
void dot (std::ostream &os, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
 
void dot (const std::string &name, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
 
std::string dot (const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const
 
std::pair< DecisionTree< Key, A >, DecisionTree< Key, B > > split (std::function< std::pair< A, B >(const GaussianFactorGraphValuePair &)> AB_of_Y) const
 Convert into two trees with value types A and B. More...
 
 DecisionTree (const NodePtr &root)
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
static NodePtr compose (Iterator begin, Iterator end, const Key &label)
 
- Public Attributes inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
NodePtr root_
 A DecisionTree just contains the root. TODO(dellaert): make protected. More...
 
- Static Protected Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
static NodePtr build (It begin, It end, ValueIt beginY, ValueIt endY)
 
static NodePtr convertFrom (const typename DecisionTree< Key, X >::NodePtr &f, std::function< GaussianFactorGraphValuePair(const X &)> Y_of_X)
 Convert from a DecisionTree<L, X> to DecisionTree<L, Y>. More...
 
static NodePtr convertFrom (const typename DecisionTree< M, X >::NodePtr &f, std::function< Key(const M &)> L_of_M, std::function< GaussianFactorGraphValuePair(const X &)> Y_of_X)
 Convert from a DecisionTree<M, X> to DecisionTree<L, Y>. More...
 
static NodePtr create (It begin, It end, ValueIt beginY, ValueIt endY)
 
static bool DefaultCompare (const GaussianFactorGraphValuePair &a, const GaussianFactorGraphValuePair &b)
 Default method for comparison of two objects of type Y. More...
 

Detailed Description

Alias for DecisionTree of GaussianFactorGraphs and their scalar sums.

Definition at line 34 of file HybridGaussianProductFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 37 of file HybridGaussianProductFactor.h.

Constructor & Destructor Documentation

◆ HybridGaussianProductFactor() [1/3]

gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( )
default

Default constructor.

◆ HybridGaussianProductFactor() [2/3]

template<class FACTOR >
gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( const std::shared_ptr< FACTOR > &  factor)
inline

Construct from a single factor.

Template Parameters
FACTORFactor type
Parameters
factorShared pointer to the factor

Definition at line 51 of file HybridGaussianProductFactor.h.

◆ HybridGaussianProductFactor() [3/3]

gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( Base &&  tree)
inline

Construct from DecisionTree.

Parameters
treeDecision tree to construct from

Definition at line 58 of file HybridGaussianProductFactor.h.

Member Function Documentation

◆ equals()

bool gtsam::HybridGaussianProductFactor::equals ( const HybridGaussianProductFactor other,
double  tol = 1e-9 
) const

Check if this HybridGaussianProductFactor is equal to another.

Parameters
otherThe other HybridGaussianProductFactor to compare with
tolTolerance for floating point comparisons
Returns
true if equal, false otherwise

Definition at line 88 of file HybridGaussianProductFactor.cpp.

◆ operator+() [1/2]

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::operator+ ( const GaussianFactor::shared_ptr factor) const

◆ operator+() [2/2]

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::operator+ ( const HybridGaussianFactor factor) const

◆ operator+=() [1/2]

HybridGaussianProductFactor & gtsam::HybridGaussianProductFactor::operator+= ( const GaussianFactor::shared_ptr factor)

Add-assign operator for GaussianFactor.

Definition at line 57 of file HybridGaussianProductFactor.cpp.

◆ operator+=() [2/2]

HybridGaussianProductFactor & gtsam::HybridGaussianProductFactor::operator+= ( const HybridGaussianFactor factor)

Add-assign operator for HybridGaussianFactor.

Definition at line 64 of file HybridGaussianProductFactor.cpp.

◆ print()

void gtsam::HybridGaussianProductFactor::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const

Print the HybridGaussianProductFactor.

Parameters
sOptional string to prepend
formatterOptional key formatter

Definition at line 71 of file HybridGaussianProductFactor.cpp.

◆ removeEmpty()

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::removeEmpty ( ) const

Remove empty GaussianFactorGraphs from the decision tree.

Returns
A new HybridGaussianProductFactor with empty GaussianFactorGraphs removed

If any GaussianFactorGraph in the decision tree contains a nullptr, convert that leaf to an empty GaussianFactorGraph with zero scalar sum. This is needed because the DecisionTree will otherwise create a GaussianFactorGraph with a single (null) factor, which doesn't register as null.

Definition at line 96 of file HybridGaussianProductFactor.cpp.


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


gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:15:35