#include <HybridValues.h>

Public Member Functions
Standard Constructors
	HybridValues ()=default
	Default constructor creates an empty HybridValues. More...

	HybridValues (const VectorValues &cv, const DiscreteValues &dv)
	Construct from DiscreteValues and VectorValues. More...

	HybridValues (const VectorValues &cv, const DiscreteValues &dv, const Values &v)
	Construct from all values types. More...

Testable
void	print (const std::string &s="HybridValues", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print required by Testable for unit testing More...

bool	equals (const HybridValues &other, double tol=1e-9) const
	equals required by Testable for unit testing More...

Interface
const VectorValues &	continuous () const
	Return the multi-dimensional vector values. More...

const DiscreteValues &	discrete () const
	Return the discrete values. More...

const Values &	nonlinear () const
	Return the nonlinear values. More...

bool	existsVector (Key j)
	Check whether a variable with key `j` exists in VectorValues. More...

bool	existsDiscrete (Key j)
	Check whether a variable with key `j` exists in DiscreteValues. More...

bool	existsNonlinear (Key j)
	Check whether a variable with key `j` exists in values. More...

bool	exists (Key j)
	Check whether a variable with key `j` exists. More...

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)
	insert_or_assign() , similar to Values.h More...

void	insert_or_assign (Key j, size_t value)
	insert_or_assign() , similar to Values.h More...

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
	Extract continuous values with given keys. More...

Wrapper support
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output as a html table. More...

Private Attributes
VectorValues	continuous_

DiscreteValues	discrete_

Values	nonlinear_

Detailed Description

HybridValues represents a collection of DiscreteValues and VectorValues. It is typically used to store the variables of a HybridGaussianFactorGraph. Optimizing a HybridGaussianBayesNet returns this class.

Definition at line 37 of file HybridValues.h.

Constructor & Destructor Documentation

◆ HybridValues() [1/3]

gtsam::HybridValues::HybridValues ( )

default

Default constructor creates an empty HybridValues.

◆ HybridValues() [2/3]

HybridValues::HybridValues	(	const VectorValues &	cv,
		const DiscreteValues &	dv
	)

Construct from DiscreteValues and VectorValues.

Definition at line 27 of file HybridValues.cpp.

◆ HybridValues() [3/3]

HybridValues::HybridValues	(	const VectorValues &	cv,
		const DiscreteValues &	dv,
		const Values &	v
	)

Construct from all values types.

Definition at line 31 of file HybridValues.cpp.

Member Function Documentation

◆ at()

Vector & HybridValues::at ( Key j )

Read/write access to the vector value with key j, throws std::out_of_range if j does not exist.

Definition at line 129 of file HybridValues.cpp.

◆ atDiscrete()

size_t & HybridValues::atDiscrete ( Key j )

Read/write access to the discrete value with key j, throws std::out_of_range if j does not exist.

Definition at line 132 of file HybridValues.cpp.

◆ continuous()

const VectorValues & HybridValues::continuous ( ) const

Return the multi-dimensional vector values.

Definition at line 54 of file HybridValues.cpp.

◆ continuousSubset()

VectorValues HybridValues::continuousSubset ( const KeyVector & keys ) const

Extract continuous values with given keys.

Definition at line 154 of file HybridValues.cpp.

◆ discrete()

const DiscreteValues & HybridValues::discrete ( ) const

Return the discrete values.

Definition at line 57 of file HybridValues.cpp.

◆ equals()

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

equals required by Testable for unit testing

Definition at line 48 of file HybridValues.cpp.

◆ exists()

bool HybridValues::exists ( Key j )

Check whether a variable with key j exists.

Definition at line 74 of file HybridValues.cpp.

◆ existsDiscrete()

bool HybridValues::existsDiscrete ( Key j )

Check whether a variable with key j exists in DiscreteValues.

Definition at line 66 of file HybridValues.cpp.

◆ existsNonlinear()

bool HybridValues::existsNonlinear ( Key j )

Check whether a variable with key j exists in values.

Definition at line 71 of file HybridValues.cpp.

◆ existsVector()

bool HybridValues::existsVector ( Key j )

Check whether a variable with key j exists in VectorValues.

Definition at line 63 of file HybridValues.cpp.

◆ html()

std::string HybridValues::html ( const KeyFormatter & keyFormatter = DefaultKeyFormatter ) const

Output as a html table.

Parameters

keyFormatter function that formats keys.

Returns: string html output.

Definition at line 163 of file HybridValues.cpp.

◆ insert() [1/6]

HybridValues & HybridValues::insert ( const DiscreteValues & values )

Insert all discrete values from values. Throws an invalid_argument exception if any keys to be inserted are already used.

Definition at line 109 of file HybridValues.cpp.

◆ insert() [2/6]

HybridValues & HybridValues::insert ( const HybridValues & values )

Insert all values from values. Throws an invalid_argument exception if any keys to be inserted are already used.

Definition at line 121 of file HybridValues.cpp.

◆ insert() [3/6]

HybridValues & HybridValues::insert ( const Values & values )

Insert all values from values. Throws an invalid_argument exception if any keys to be inserted are already used.

Definition at line 115 of file HybridValues.cpp.

◆ insert() [4/6]

HybridValues & HybridValues::insert ( const VectorValues & values )

Insert all continuous values from values. Throws an invalid_argument exception if any keys to be inserted are already used.

Definition at line 103 of file HybridValues.cpp.

◆ insert() [5/6]

void HybridValues::insert	(	Key	j,
		const Vector &	value
	)

Insert a vector value with key j. Throws an invalid_argument exception if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

Definition at line 85 of file HybridValues.cpp.

◆ insert() [6/6]

void HybridValues::insert	(	Key	j,
		size_t	value
	)

Insert a discrete value with key j. Replaces the existing value if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

Definition at line 90 of file HybridValues.cpp.

◆ insert_or_assign() [1/2]

void HybridValues::insert_or_assign	(	Key	j,
		const Vector &	value
	)

insert_or_assign() , similar to Values.h

Definition at line 93 of file HybridValues.cpp.

◆ insert_or_assign() [2/2]

void HybridValues::insert_or_assign	(	Key	j,
		size_t	value
	)

insert_or_assign() , similar to Values.h

Definition at line 98 of file HybridValues.cpp.

◆ nonlinear()

const Values & HybridValues::nonlinear ( ) const

Return the nonlinear values.

Definition at line 60 of file HybridValues.cpp.

◆ print()

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

print required by Testable for unit testing

Definition at line 36 of file HybridValues.cpp.

◆ retract()

HybridValues HybridValues::retract ( const VectorValues & delta ) const

Add a delta config to current config and returns a new config

Definition at line 79 of file HybridValues.cpp.

◆ update() [1/3]

HybridValues & HybridValues::update ( const DiscreteValues & values )

For all key/value pairs in values, replace discrete values with corresponding keys in this object with those in values. Throws std::out_of_range if any keys in values are not present in this object.

Definition at line 141 of file HybridValues.cpp.

◆ update() [2/3]

HybridValues & HybridValues::update ( const HybridValues & values )

For all key/value pairs in values, replace all values with corresponding keys in this object with those in values. Throws std::out_of_range if any keys in values are not present in this object.

Definition at line 147 of file HybridValues.cpp.

◆ update() [3/3]

HybridValues & HybridValues::update ( const VectorValues & values )

For all key/value pairs in values, replace continuous values with corresponding keys in this object with those in values. Throws std::out_of_range if any keys in values are not present in this object.

Definition at line 135 of file HybridValues.cpp.

Member Data Documentation

◆ continuous_

VectorValues gtsam::HybridValues::continuous_

private

Definition at line 40 of file HybridValues.h.

◆ discrete_

DiscreteValues gtsam::HybridValues::discrete_

private

Definition at line 43 of file HybridValues.h.

◆ nonlinear_

Values gtsam::HybridValues::nonlinear_

private

Definition at line 46 of file HybridValues.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HybridValues() [1/3]

◆ HybridValues() [2/3]

◆ HybridValues() [3/3]

Member Function Documentation

◆ at()

◆ atDiscrete()

◆ continuous()

◆ continuousSubset()

◆ discrete()

◆ equals()

◆ exists()

◆ existsDiscrete()

◆ existsNonlinear()

◆ existsVector()

◆ html()

◆ insert() [1/6]

◆ insert() [2/6]

◆ insert() [3/6]

◆ insert() [4/6]

◆ insert() [5/6]

◆ insert() [6/6]

◆ insert_or_assign() [1/2]

◆ insert_or_assign() [2/2]

◆ nonlinear()

◆ print()

◆ retract()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ continuous_

◆ discrete_

◆ nonlinear_