#include <Values.h>

Inheritance diagram for gtsam::Values:

[legend]

Classes
struct	ConstKeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

struct	deref_iterator

struct	KeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

Public Types
typedef std::shared_ptr< const Values >	const_shared_ptr
	A const shared_ptr to this class. More...

typedef std::shared_ptr< Values >	shared_ptr
	A shared_ptr to this class. More...

typedef KeyValuePair	value_type

Public Member Functions
void	clear ()

template<class ValueType >
size_t	count () const

size_t	dim () const

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

void	erase (Key j)

template<class ValueType >
std::map< Key, ValueType >	extract (const std::function< bool(Key)> &filterFcn=&_truePredicate< Key >) const

void	insert (const Values &values)

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >
void	insert (Key j, const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &val)

template<typename UnaryOp , typename ValueType >
void	insert (Key j, const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &val)

void	insert (Key j, const Value &val)

template<typename ValueType >
void	insert (Key j, const ValueType &val)

void	insert_or_assign (const Values &values)

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >
void	insert_or_assign (Key j, const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &val)

template<typename UnaryOp , typename ValueType >
void	insert_or_assign (Key j, const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &val)

void	insert_or_assign (Key j, const Value &val)
	If key j exists, update value, else perform an insert. More...

template<typename ValueType >
void	insert_or_assign (Key j, const ValueType &val)
	Templated version to insert_or_assign a variable with the given j. More...

void	insertDouble (Key j, double c)
	version for double More...

KeyVector	keys () const

KeySet	keySet () const

Values &	operator= (const Values &rhs)

void	swap (Values &other)

void	update (const Values &values)

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >
void	update (Key j, const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &val)

template<typename UnaryOp , typename ValueType >
void	update (Key j, const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &val)

template<typename T >
void	update (Key j, const T &val)

void	update (Key j, const Value &val)

template<typename ValueType >
void	update (Key j, const ValueType &val)

VectorValues	zeroVectors () const

Constructors
	Values ()=default

	Values (const Values &other)

	Values (Values &&other)

	Values (std::initializer_list< ConstKeyValuePair > init)

	Values (const Values &other, const VectorValues &delta)

Testable
void	print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

bool	equals (const Values &other, double tol=1e-9) const

Standard Interface
template<typename ValueType >
const ValueType	at (Key j) const

double	atDouble (size_t key) const
	version for double More...

const Value &	at (Key j) const

bool	exists (Key j) const

template<typename ValueType >
const ValueType *	exists (Key j) const

size_t	size () const

bool	empty () const

Iterator
deref_iterator	begin () const

deref_iterator	end () const

deref_iterator	find (Key j) const

deref_iterator	lower_bound (Key j) const

deref_iterator	upper_bound (Key j) const

Manifold Operations
Values	retract (const VectorValues &delta) const

void	retractMasked (const VectorValues &delta, const KeySet &mask)

VectorValues	localCoordinates (const Values &cp) const

Private Types
using	KeyValueMap = std::map< Key, std::unique_ptr< Value >, std::less< Key >, std::allocator< std::pair< const Key, std::unique_ptr< Value > >> >

typedef internal::FastDefaultAllocator< typename std::pair< const Key, void * > >::type	KeyValuePtrPairAllocator

Static Private Member Functions
template<>
bool	filterHelper (const std::function< bool(Key)> filter, const ConstKeyValuePair &key_value)

template<class ValueType >
static bool	filterHelper (const std::function< bool(Key)> filter, const ConstKeyValuePair &key_value)

Private Attributes
KeyValueMap	values_

Detailed Description

A non-templated config holding any types of Manifold-group elements. A values structure is a map from keys to values. It is used to specify the value of a bunch of variables in a factor graph. A Values is a values structure which can hold variables that are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.

Definition at line 65 of file Values.h.

Member Typedef Documentation

◆ const_shared_ptr

typedef std::shared_ptr<const Values> gtsam::Values::const_shared_ptr

A const shared_ptr to this class.

Definition at line 87 of file Values.h.

◆ KeyValueMap

using gtsam::Values::KeyValueMap = std::map<Key, std::unique_ptr<Value>, std::less<Key>, std::allocator<std::pair<const Key, std::unique_ptr<Value> >> >

private

Definition at line 76 of file Values.h.

◆ KeyValuePtrPairAllocator

typedef internal::FastDefaultAllocator<typename std::pair<const Key, void*> >::type gtsam::Values::KeyValuePtrPairAllocator

private

Definition at line 73 of file Values.h.

◆ shared_ptr

typedef std::shared_ptr<Values> gtsam::Values::shared_ptr

A shared_ptr to this class.

Definition at line 84 of file Values.h.

◆ value_type

typedef KeyValuePair gtsam::Values::value_type

Definition at line 106 of file Values.h.

Constructor & Destructor Documentation

◆ Values() [1/5]

gtsam::Values::Values ( )

default

Default constructor creates an empty Values class

◆ Values() [2/5]

Values::Values ( const Values & other )

Copy constructor duplicates all keys and values

Definition at line 38 of file Values.cpp.

◆ Values() [3/5]

Values::Values ( Values && other )

Move constructor

Definition at line 43 of file Values.cpp.

◆ Values() [4/5]

Values::Values ( std::initializer_list< ConstKeyValuePair > init )

Constructor from initializer list. Example usage:

Values v = {{k1, genericValue(pose1)}, {k2, genericValue(point2)}};

Definition at line 47 of file Values.cpp.

◆ Values() [5/5]

Values::Values	(	const Values &	other,
		const VectorValues &	delta
	)

Construct from a Values and an update vector: identical to other.retract(delta)

Definition at line 53 of file Values.cpp.

Member Function Documentation

◆ at() [1/2]

template<typename ValueType >

const ValueType Values::at ( Key j ) const

Retrieve a variable by key j. The type of the value associated with this key is supplied as a template argument to this function.

Parameters

j	Retrieve the value associated with this key

Template Parameters

ValueType The type of the value stored with this key, this method Throws DynamicValuesIncorrectType if this requested type is not correct. Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa.

Returns: The stored value

Definition at line 261 of file Values-inl.h.

◆ at() [2/2]

const Value & Values::at ( Key j ) const

Retrieve a variable by key j. This version returns a reference to the base Value class, and needs to be casted before use.

Parameters

j	Retrieve the value associated with this key

Returns: A const reference to the stored value

Definition at line 146 of file Values.cpp.

◆ atDouble()

double gtsam::Values::atDouble ( size_t key ) const

inline

version for double

Definition at line 156 of file Values.h.

◆ begin()

deref_iterator gtsam::Values::begin ( ) const

inline

Definition at line 205 of file Values.h.

◆ clear()

void gtsam::Values::clear ( )

inline

Remove all variables from the config

Definition at line 347 of file Values.h.

◆ count()

template<class ValueType >

size_t Values::count

Definition at line 94 of file Values-inl.h.

◆ dim()

size_t Values::dim ( ) const

Compute the total dimensionality of all values ( $ O(n) $ )

Definition at line 243 of file Values.cpp.

◆ dims()

std::map< Key, size_t > Values::dims ( ) const

Return all dimensions in a map ( $ O(n log n) $ )

Definition at line 252 of file Values.cpp.

◆ empty()

bool gtsam::Values::empty ( ) const

inline

whether the config is empty

Definition at line 181 of file Values.h.

◆ end()

deref_iterator gtsam::Values::end ( ) const

inline

Definition at line 206 of file Values.h.

◆ equals()

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

Test whether the sets of keys and values are identical

Definition at line 78 of file Values.cpp.

◆ erase()

void Values::erase ( Key j )

Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present

Definition at line 211 of file Values.cpp.

◆ exists() [1/2]

bool Values::exists ( Key j ) const

Check if a value exists with key j. See exists<>(Key j) and exists(const TypedKey& j) for versions that return the value if it exists.

Definition at line 94 of file Values.cpp.

◆ exists() [2/2]

template<typename ValueType >

const ValueType * Values::exists ( Key j ) const

Check if a value with key j exists, returns a pointer to the const version of the value Value if the key does exist, or nullptr if it does not exist. Throws DynamicValuesIncorrectType if the value type associated with the requested key does not match the stored value type.

Definition at line 276 of file Values-inl.h.

◆ extract()

template<class ValueType >

std::map< Key, ValueType > Values::extract ( const std::function< bool(Key)> & filterFcn = &_truePredicate<Key> ) const

Extract a subset of values of the given type ValueType.

In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. This replaces the fancier but very boost-dependent filter methods that were previously available up to GTSAM 4.2.

Template Parameters

ValueType The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys (default: always return true so that filter() only filters by type, matching ValueType).

Returns: An Eigen aligned map on Key with the filtered values.

Definition at line 105 of file Values-inl.h.

◆ filterHelper() [1/2]

template<>

bool gtsam::Values::filterHelper	(	const std::function< bool(Key)>	filter,
		const ConstKeyValuePair &	key_value
	)

inlinestaticprivate

Definition at line 121 of file Values-inl.h.

◆ filterHelper() [2/2]

template<class ValueType >

static bool gtsam::Values::filterHelper	(	const std::function< bool(Key)>	filter,
		const ConstKeyValuePair &	key_value
	)

inlinestaticprivate

Definition at line 389 of file Values.h.

◆ find()

deref_iterator gtsam::Values::find ( Key j ) const

inline

Find an element by key, returning an iterator, or end() if the key was not found.

Definition at line 210 of file Values.h.

◆ insert() [1/5]

void Values::insert ( const Values & values )

Add a set of variables, throws KeyAlreadyExists<J> if a key is already present

Definition at line 163 of file Values.cpp.

◆ insert() [2/5]

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >

void Values::insert	(	Key	j,
		const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &	val
	)

Partial specialization that allows passing a binary Eigen expression for val.

A binary expression is an expression such as a + b, where a and b are valid Vector or Matrix types of compatible size. The typical usage is for types Point2 (i.e. Eigen::Vector2d) or Point3 (i.e. Eigen::Vector3d). For example, together with the partial specialization for binary operators, a user may call insert(j, 2*a + M*b - c), where M is an appropriately sized matrix (such as a rotation matrix). Thus, it isn't necessary to explicitly evaluate the Eigen expression, as in insert(j, (2*a + M*b - c).eval()), nor is it necessary to first assign the expression to a separate variable.

Definition at line 311 of file Values-inl.h.

◆ insert() [3/5]

template<typename UnaryOp , typename ValueType >

void Values::insert	(	Key	j,
		const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &	val
	)

Partial specialization that allows passing a unary Eigen expression for val.

A unary expression is an expression such as 2*a or -a, where a is a valid Vector or Matrix type. The typical usage is for types Point2 (i.e. Eigen::Vector2d) or Point3 (i.e. Eigen::Vector3d). For example, together with the partial specialization for binary operators, a user may call insert(j, 2*a + M*b - c), where M is an appropriately sized matrix (such as a rotation matrix). Thus, it isn't necessary to explicitly evaluate the Eigen expression, as in insert(j, (2*a + M*b - c).eval()), nor is it necessary to first assign the expression to a separate variable.

Definition at line 305 of file Values-inl.h.

◆ insert() [4/5]

void Values::insert	(	Key	j,
		const Value &	val
	)

Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

Definition at line 156 of file Values.cpp.

◆ insert() [5/5]

template<typename ValueType >

void Values::insert	(	Key	j,
		const ValueType &	val
	)

Templated version to add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

Definition at line 299 of file Values-inl.h.

◆ insert_or_assign() [1/5]

void Values::insert_or_assign ( const Values & values )

Update a set of variables. If any variable key does not exist, then perform an insert.

Definition at line 204 of file Values.cpp.

◆ insert_or_assign() [2/5]

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >

void Values::insert_or_assign	(	Key	j,
		const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &	val
	)

Partial specialization that allows passing a binary Eigen expression for val, similar to the partial specialization for insert.

Definition at line 345 of file Values-inl.h.

◆ insert_or_assign() [3/5]

template<typename UnaryOp , typename ValueType >

void Values::insert_or_assign	(	Key	j,
		const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &	val
	)

Partial specialization that allows passing a unary Eigen expression for val, similar to the partial specialization for insert.

Definition at line 340 of file Values-inl.h.

◆ insert_or_assign() [4/5]

void Values::insert_or_assign	(	Key	j,
		const Value &	val
	)

If key j exists, update value, else perform an insert.

Definition at line 193 of file Values.cpp.

◆ insert_or_assign() [5/5]

template<typename ValueType >

void Values::insert_or_assign	(	Key	j,
		const ValueType &	val
	)

Templated version to insert_or_assign a variable with the given j.

Definition at line 335 of file Values-inl.h.

◆ insertDouble()

void gtsam::Values::insertDouble	(	Key	j,
		double	c
	)

inline

version for double

Definition at line 274 of file Values.h.

◆ keys()

KeyVector Values::keys ( ) const

Returns a vector of keys in the config. Note: by construction, the list is ordered

Definition at line 219 of file Values.cpp.

◆ keySet()

KeySet Values::keySet ( ) const

Returns a set of keys in the config.

Definition at line 228 of file Values.cpp.

◆ localCoordinates()

VectorValues Values::localCoordinates ( const Values & cp ) const

Get a delta config about a linearization point c0 (*this)

Definition at line 130 of file Values.cpp.

◆ lower_bound()

deref_iterator gtsam::Values::lower_bound ( Key j ) const

inline

Find the element greater than or equal to the specified key.

Definition at line 213 of file Values.h.

◆ operator=()

Values & Values::operator= ( const Values & rhs )

Replace all keys and variables

Definition at line 236 of file Values.cpp.

◆ print()

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

print method for testing and debugging

Definition at line 67 of file Values.cpp.

◆ retract()

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

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

Definition at line 99 of file Values.cpp.

◆ retractMasked()

void Values::retractMasked	(	const VectorValues &	delta,
		const KeySet &	mask
	)

Retract, but only for Keys appearing in mask. In-place.

Parameters

mask	Mask on Keys where to apply retract.

Definition at line 104 of file Values.cpp.

◆ size()

size_t gtsam::Values::size ( ) const

inline

The number of variables in this config

Definition at line 178 of file Values.h.

◆ swap()

void gtsam::Values::swap ( Values & other )

inline

Swap the contents of two Values without copying data

Definition at line 344 of file Values.h.

◆ update() [1/6]

void Values::update ( const Values & values )

update the current available values without adding new ones

Definition at line 186 of file Values.cpp.

◆ update() [2/6]

template<typename BinaryOp , typename ValueType1 , typename ValueType2 >

void Values::update	(	Key	j,
		const Eigen::CwiseBinaryOp< BinaryOp, const ValueType1, const ValueType2 > &	val
	)

Partial specialization that allows passing a binary Eigen expression for val, similar to the partial specialization for insert.

Definition at line 329 of file Values-inl.h.

◆ update() [3/6]

template<typename UnaryOp , typename ValueType >

void Values::update	(	Key	j,
		const Eigen::CwiseUnaryOp< UnaryOp, const ValueType > &	val
	)

Partial specialization that allows passing a unary Eigen expression for val, similar to the partial specialization for insert.

Definition at line 323 of file Values-inl.h.

◆ update() [4/6]

template<typename T >

void gtsam::Values::update	(	Key	j,
		const T &	val
	)

Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present. If no chart is specified, the DefaultChart<ValueType> is used.

◆ update() [5/6]

void Values::update	(	Key	j,
		const Value &	val
	)

single element change of existing element

Definition at line 170 of file Values.cpp.

◆ update() [6/6]

template<typename ValueType >

void gtsam::Values::update	(	Key	j,
		const ValueType &	val
	)

Definition at line 317 of file Values-inl.h.

◆ upper_bound()

deref_iterator gtsam::Values::upper_bound ( Key j ) const

inline

Find the lowest-ordered element greater than the specified key.

Definition at line 216 of file Values.h.

◆ zeroVectors()

VectorValues Values::zeroVectors ( ) const

Return a VectorValues of zero vectors for each variable in this Values

Definition at line 261 of file Values.cpp.

Member Data Documentation

◆ values_

KeyValueMap gtsam::Values::values_

private

Definition at line 79 of file Values.h.

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

Classes

Public Types

Public Member Functions

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ const_shared_ptr

◆ KeyValueMap

◆ KeyValuePtrPairAllocator

◆ shared_ptr

◆ value_type

Constructor & Destructor Documentation

◆ Values() [1/5]

◆ Values() [2/5]

◆ Values() [3/5]

◆ Values() [4/5]

◆ Values() [5/5]

Member Function Documentation

◆ at() [1/2]

◆ at() [2/2]

◆ atDouble()

◆ begin()

◆ clear()

◆ count()

◆ dim()

◆ dims()

◆ empty()

◆ end()

◆ equals()

◆ erase()

◆ exists() [1/2]

◆ exists() [2/2]

◆ extract()

◆ filterHelper() [1/2]

◆ filterHelper() [2/2]

◆ find()

◆ insert() [1/5]

◆ insert() [2/5]

◆ insert() [3/5]

◆ insert() [4/5]

◆ insert() [5/5]

◆ insert_or_assign() [1/5]

◆ insert_or_assign() [2/5]

◆ insert_or_assign() [3/5]

◆ insert_or_assign() [4/5]

◆ insert_or_assign() [5/5]

◆ insertDouble()

◆ keys()

◆ keySet()

◆ localCoordinates()

◆ lower_bound()

◆ operator=()

◆ print()

◆ retract()

◆ retractMasked()

◆ size()

◆ swap()

◆ update() [1/6]

◆ update() [2/6]

◆ update() [3/6]

◆ update() [4/6]

◆ update() [5/6]

◆ update() [6/6]

◆ upper_bound()

◆ zeroVectors()

Member Data Documentation

◆ values_