#include <SymbolicFactor.h>
Public Types | |
typedef Factor | Base |
typedef SymbolicConditional | ConditionalType |
typedef boost::shared_ptr< This > | shared_ptr |
typedef SymbolicFactor | This |
Public Types inherited from gtsam::Factor | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. More... | |
typedef KeyVector::iterator | iterator |
Iterator over keys. More... | |
Private Member Functions | |
template<class ARCHIVE > | |
void | serialize (ARCHIVE &ar, const unsigned int) |
Friends | |
class | boost::serialization::access |
Standard Interface | |
SymbolicFactor () | |
SymbolicFactor (Key j) | |
SymbolicFactor (Key j1, Key j2) | |
SymbolicFactor (Key j1, Key j2, Key j3) | |
SymbolicFactor (Key j1, Key j2, Key j3, Key j4) | |
SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5) | |
SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) | |
SymbolicFactor (const Factor &factor) | |
virtual | ~SymbolicFactor () |
SymbolicFactor::shared_ptr | clone () const |
Copy this object as its actual derived type. More... | |
bool | empty () const |
std::pair< boost::shared_ptr< SymbolicConditional >, boost::shared_ptr< SymbolicFactor > > | eliminate (const Ordering &keys) const |
Testable | |
bool | equals (const This &other, double tol=1e-9) const |
void | print (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
void | printKeys (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print only keys More... | |
Advanced Constructors | |
template<typename KEYITERATOR > | |
static SymbolicFactor | FromIterators (KEYITERATOR beginKey, KEYITERATOR endKey) |
template<typename KEYITERATOR > | |
static SymbolicFactor::shared_ptr | FromIteratorsShared (KEYITERATOR beginKey, KEYITERATOR endKey) |
template<class CONTAINER > | |
static SymbolicFactor | FromKeys (const CONTAINER &keys) |
template<class CONTAINER > | |
static SymbolicFactor::shared_ptr | FromKeysShared (const CONTAINER &keys) |
Additional Inherited Members | |
Public Member Functions inherited from gtsam::Factor | |
virtual | ~Factor ()=default |
Default destructor. More... | |
Key | front () const |
First key. More... | |
Key | back () const |
Last key. More... | |
const_iterator | find (Key key) const |
find More... | |
const KeyVector & | keys () const |
Access the factor's involved variable keys. More... | |
const_iterator | begin () const |
const_iterator | end () const |
size_t | size () const |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
Protected Member Functions inherited from gtsam::Factor | |
Factor () | |
template<typename CONTAINER > | |
Factor (const CONTAINER &keys) | |
template<typename ITERATOR > | |
Factor (ITERATOR first, ITERATOR last) | |
bool | equals (const This &other, double tol=1e-9) const |
check equality More... | |
Static Protected Member Functions inherited from gtsam::Factor | |
template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
Protected Attributes inherited from gtsam::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function.
Definition at line 39 of file SymbolicFactor.h.
typedef Factor gtsam::SymbolicFactor::Base |
Definition at line 44 of file SymbolicFactor.h.
Definition at line 45 of file SymbolicFactor.h.
typedef boost::shared_ptr<This> gtsam::SymbolicFactor::shared_ptr |
Overriding the shared_ptr typedef
Definition at line 48 of file SymbolicFactor.h.
Definition at line 43 of file SymbolicFactor.h.
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inline |
Default constructor for I/O
Definition at line 54 of file SymbolicFactor.h.
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inlineexplicit |
Construct unary factor
Definition at line 57 of file SymbolicFactor.h.
Construct binary factor
Definition at line 61 of file SymbolicFactor.h.
Construct ternary factor
Definition at line 65 of file SymbolicFactor.h.
Construct 4-way factor
Definition at line 69 of file SymbolicFactor.h.
Construct 5-way factor
Definition at line 73 of file SymbolicFactor.h.
Construct 6-way factor
Definition at line 77 of file SymbolicFactor.h.
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inlineexplicit |
Create symbolic version of any factor
Definition at line 81 of file SymbolicFactor.h.
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inlinevirtual |
Definition at line 83 of file SymbolicFactor.h.
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inline |
Copy this object as its actual derived type.
Definition at line 86 of file SymbolicFactor.h.
std::pair< boost::shared_ptr< SymbolicConditional >, boost::shared_ptr< SymbolicFactor > > gtsam::SymbolicFactor::eliminate | ( | const Ordering & | keys | ) | const |
Eliminate the variables in keys
, in the order specified in keys
, returning a conditional and marginal.
Definition at line 44 of file SymbolicFactor.cpp.
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inline |
Whether the factor is empty (involves zero variables).
Definition at line 148 of file SymbolicFactor.h.
bool gtsam::SymbolicFactor::equals | ( | const This & | other, |
double | tol = 1e-9 |
||
) | const |
Definition at line 37 of file SymbolicFactor.cpp.
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inlinestatic |
Constructor from a collection of keys
Definition at line 116 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys
Definition at line 122 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys - compatible with boost::assign::list_of and boost::assign::cref_list_of
Definition at line 131 of file SymbolicFactor.h.
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inlinestatic |
Constructor from a collection of keys - compatible with boost::assign::list_of and boost::assign::cref_list_of
Definition at line 138 of file SymbolicFactor.h.
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inlineoverridevirtual |
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inlineoverridevirtual |
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inlineprivate |
Definition at line 161 of file SymbolicFactor.h.
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friend |
Serialization function
Definition at line 159 of file SymbolicFactor.h.