#include <DiscreteSearch.h>

Public Attributes
std::vector< DiscreteValues >	assignments

DiscreteFactor::shared_ptr	factor

double	heuristic

Friends
std::ostream &	operator<< (std::ostream &os, const Slot &slot)

Detailed Description

We structure the search as a set of slots, each with a factor and a set of variable assignments that need to be chosen. In addition, each slot has a heuristic associated with it.

Example: The factors in the search problem (always parents before descendents!): [P(A), P(B|A), P(C|A,B)] The assignments for each factor. [[A0,A1], [B0,B1], [C0,C1,C2]] A lower bound on the cost-to-go after each slot, e.g., [-log(max_B P(B|A)) -log(max_C P(C|A,B)), -log(max_C P(C|A,B)), 0.0] Note that these decrease as we move from right to left. We keep the global lower bound as lowerBound_. In the example, it is: -log(max_B P(B|A)) -log(max_C P(C|A,B)) -log(max_C P(C|A,B))

Definition at line 62 of file DiscreteSearch.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const Slot &	slot
	)

friend

Definition at line 67 of file DiscreteSearch.h.

Member Data Documentation

◆ assignments

std::vector<DiscreteValues> gtsam::DiscreteSearch::Slot::assignments

Definition at line 64 of file DiscreteSearch.h.

◆ factor

DiscreteFactor::shared_ptr gtsam::DiscreteSearch::Slot::factor

Definition at line 63 of file DiscreteSearch.h.

◆ heuristic

double gtsam::DiscreteSearch::Slot::heuristic

Definition at line 65 of file DiscreteSearch.h.

The documentation for this struct was generated from the following file:

DiscreteSearch.h

Public Attributes