#include <HybridNonlinearFactorGraph.h>

Inheritance diagram for gtsam::HybridNonlinearFactorGraph:

Public Types
using	Base = HybridFactorGraph

using	Indices = KeyVector

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = HybridNonlinearFactorGraph
	this class More...

using	Values = gtsam::Values
	backwards compatibility More...

Public Types inherited from gtsam::HybridFactorGraph
using	Base = FactorGraph< Factor >

using	Indices = KeyVector

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = HybridFactorGraph
	this class More...

using	Values = gtsam::Values
	backwards compatibility More...

Public Types inherited from gtsam::FactorGraph< Factor >
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef Factor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef std::shared_ptr< Factor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Member Functions
Constructors
	HybridNonlinearFactorGraph ()=default

template<class DERIVEDFACTOR >
	HybridNonlinearFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

void	print (const std::string &s="HybridNonlinearFactorGraph", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print the factor graph. More...

void	printErrors (const HybridValues &values, const std::string &str="HybridNonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter, const std::function< bool(const Factor , double, size_t)> &printCondition=[](const Factor , double, size_t) { return true;}) const

Standard Interface
std::shared_ptr< HybridGaussianFactorGraph >	linearize (const Values &continuousValues) const
	Linearize all the continuous factors in the HybridNonlinearFactorGraph. More...

AlgebraicDecisionTree< Key >	errorTree (const Values &values) const
	Compute error of (hybrid) nonlinear factors and discrete factors over each discrete assignment, and return as a tree. More...

AlgebraicDecisionTree< Key >	discretePosterior (const Values &continuousValues) const
	Computer posterior P(M\|X=x) when all continuous values X are given. This is efficient as this simply takes -exp(.) of errorTree and normalizes. More...

HybridNonlinearFactorGraph	restrict (const DiscreteValues &assignment) const
	Restrict all factors in the graph to the given discrete values. More...

Public Member Functions inherited from gtsam::HybridFactorGraph
	HybridFactorGraph ()=default
	Default constructor. More...

template<class DERIVEDFACTOR >
	HybridFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

template<class CONTAINER >
	HybridFactorGraph (const CONTAINER &factors)

std::set< DiscreteKey >	discreteKeys () const
	Get all the discrete keys in the factor graph. More...

KeySet	discreteKeySet () const
	Get all the discrete keys in the factor graph, as a set of Keys. More...

const KeySet	continuousKeySet () const
	Get all the continuous keys in the factor graph. More...

Public Member Functions inherited from gtsam::FactorGraph< Factor >
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

virtual	~FactorGraph ()=default

void	reserve (size_t size)

IsDerived< DERIVEDFACTOR >	push_back (std::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr. More...

IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&... args)
	Emplace a shared pointer to factor of given type. More...

IsDerived< DERIVEDFACTOR >	add (std::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator+= (std::shared_ptr< DERIVEDFACTOR > factor)
	Append factor to factor graph. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator, (std::shared_ptr< DERIVEDFACTOR > factor)
	Overload comma operator to allow for append chaining. More...

HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied) More...

HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied). More...

void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

This &	operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)

std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance. More...

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

std::shared_ptr< F >	at (size_t i)

const std::shared_ptr< F >	at (size_t i) const
	Const version of templated `at` method. More...

const sharedFactor	operator[] (size_t i) const

sharedFactor &	operator[] (size_t i)

const_iterator	begin () const

const_iterator	end () const

sharedFactor	front () const

sharedFactor	back () const

double	error (const HybridValues &values) const

iterator	begin ()

iterator	end ()

virtual void	resize (size_t size)

void	remove (size_t i)

void	replace (size_t index, sharedFactor factor)

iterator	erase (iterator item)

iterator	erase (iterator first, iterator last)

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format. More...

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Additional Inherited Members
Protected Member Functions inherited from gtsam::FactorGraph< Factor >
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

Protected Attributes inherited from gtsam::FactorGraph< Factor >
FastVector< sharedFactor >	factors_

Detailed Description

Nonlinear Hybrid Factor Graph

This is the non-linear version of a hybrid factor graph. Everything inside needs to be hybrid factor or hybrid conditional.

Definition at line 33 of file HybridNonlinearFactorGraph.h.

Member Typedef Documentation

◆ Base

using gtsam::HybridNonlinearFactorGraph::Base = HybridFactorGraph

Definition at line 36 of file HybridNonlinearFactorGraph.h.

◆ Indices

using gtsam::HybridNonlinearFactorGraph::Indices = KeyVector

Definition at line 41 of file HybridNonlinearFactorGraph.h.

◆ shared_ptr

using gtsam::HybridNonlinearFactorGraph::shared_ptr = std::shared_ptr<This>

shared_ptr to This

Definition at line 38 of file HybridNonlinearFactorGraph.h.

◆ This

using gtsam::HybridNonlinearFactorGraph::This = HybridNonlinearFactorGraph

this class

Definition at line 37 of file HybridNonlinearFactorGraph.h.

◆ Values

using gtsam::HybridNonlinearFactorGraph::Values = gtsam::Values

backwards compatibility

Definition at line 40 of file HybridNonlinearFactorGraph.h.

Constructor & Destructor Documentation

◆ HybridNonlinearFactorGraph() [1/2]

gtsam::HybridNonlinearFactorGraph::HybridNonlinearFactorGraph ( )

default

◆ HybridNonlinearFactorGraph() [2/2]

template<class DERIVEDFACTOR >

gtsam::HybridNonlinearFactorGraph::HybridNonlinearFactorGraph ( const FactorGraph< DERIVEDFACTOR > & graph )

inline

Implicit copy/downcast constructor to override explicit template container constructor. In BayesTree this is used for: cachedSeparatorMarginal_.reset(*separatorMarginal)

Definition at line 54 of file HybridNonlinearFactorGraph.h.

Member Function Documentation

◆ discretePosterior()

AlgebraicDecisionTree< Key > gtsam::HybridNonlinearFactorGraph::discretePosterior ( const Values & continuousValues ) const

Computer posterior P(M|X=x) when all continuous values X are given. This is efficient as this simply takes -exp(.) of errorTree and normalizes.

Note: Not a DiscreteConditional as the cardinalities of the DiscreteKeys, which we would need, are hard to recover.

Parameters

continuousValues Continuous values x to condition on.

Returns: DecisionTreeFactor

Definition at line 214 of file HybridNonlinearFactorGraph.cpp.

◆ errorTree()

AlgebraicDecisionTree< Key > gtsam::HybridNonlinearFactorGraph::errorTree ( const Values & values ) const

Compute error of (hybrid) nonlinear factors and discrete factors over each discrete assignment, and return as a tree.

Error $e = \Vert f(x) - \mu \Vert_{\Sigma}$ .

Note: : Gaussian and hybrid Gaussian factors are not considered!

Parameters

values Manifold values at which to compute the error.

Returns: AlgebraicDecisionTree<Key>

Definition at line 183 of file HybridNonlinearFactorGraph.cpp.

◆ linearize()

HybridGaussianFactorGraph::shared_ptr gtsam::HybridNonlinearFactorGraph::linearize ( const Values & continuousValues ) const

Linearize all the continuous factors in the HybridNonlinearFactorGraph.

Parameters

continuousValues Dictionary of continuous values.

Returns: HybridGaussianFactorGraph::shared_ptr

Definition at line 139 of file HybridNonlinearFactorGraph.cpp.

◆ print()

void gtsam::HybridNonlinearFactorGraph::print	(	const std::string &	s = `"HybridNonlinearFactorGraph"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

Print the factor graph.

Reimplemented from gtsam::FactorGraph< Factor >.

Definition at line 30 of file HybridNonlinearFactorGraph.cpp.

◆ printErrors()

void gtsam::HybridNonlinearFactorGraph::printErrors	(	const HybridValues &	values,
		const std::string &	str = `"HybridNonlinearFactorGraph: "`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const std::function< bool(const Factor *, double, size_t)> &	printCondition = `[](const Factor*, double, size_t) { return true; }`
	)		const

print errors along with factors

Definition at line 46 of file HybridNonlinearFactorGraph.cpp.

◆ restrict()

HybridNonlinearFactorGraph gtsam::HybridNonlinearFactorGraph::restrict ( const DiscreteValues & assignment ) const

Restrict all factors in the graph to the given discrete values.

Definition at line 225 of file HybridNonlinearFactorGraph.cpp.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Nonlinear Hybrid Factor Graph

Member Typedef Documentation

◆ Base

◆ Indices

◆ shared_ptr

◆ This

◆ Values

Constructor & Destructor Documentation

◆ HybridNonlinearFactorGraph() [1/2]

◆ HybridNonlinearFactorGraph() [2/2]

Member Function Documentation

◆ discretePosterior()

◆ errorTree()

◆ linearize()

◆ print()

◆ printErrors()

◆ restrict()