#include <Conditional.h>

Classes
struct	ConstFactorRangeIterator

Public Types
typedef std::pair< typename FACTOR::const_iterator, typename FACTOR::const_iterator >	ConstFactorRange

typedef ConstFactorRangeIterator	Frontals

typedef ConstFactorRangeIterator	Parents

Public Member Functions
Testable
void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const

bool	equals (const This &c, double tol=1e-9) const

Standard Interface
virtual	~Conditional ()

size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

virtual double	logProbability (const HybridValues &c) const

virtual double	evaluate (const HybridValues &c) const

double	operator() (const HybridValues &x) const
	Evaluate probability density, sugar. More...

virtual double	negLogConstant () const
	All conditional types need to implement this as the negative log of the normalization constant to make it such that error>=0. More...

Protected Member Functions
Standard Constructors
	Conditional ()

	Conditional (size_t nrFrontals)

Protected Attributes
size_t	nrFrontals_

Private Types
typedef Conditional< FACTOR, DERIVEDCONDITIONAL >	This
	Typedef to this class. More...

Private Member Functions
Serialization
FACTOR &	asFactor ()

const FACTOR &	asFactor () const

Advanced Interface
FACTOR::const_iterator	beginFrontals () const

FACTOR::const_iterator	endFrontals () const

FACTOR::const_iterator	beginParents () const

FACTOR::const_iterator	endParents () const

size_t &	nrFrontals ()

FACTOR::iterator	beginFrontals ()

FACTOR::iterator	endFrontals ()

FACTOR::iterator	beginParents ()

FACTOR::iterator	endParents ()

template<class VALUES >
static bool	CheckInvariants (const DERIVEDCONDITIONAL &conditional, const VALUES &x)

Detailed Description

template<class FACTOR, class DERIVEDCONDITIONAL>
class gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >

Definition at line 63 of file Conditional.h.

Member Typedef Documentation

◆ ConstFactorRange

template<class FACTOR , class DERIVEDCONDITIONAL >

typedef std::pair<typename FACTOR::const_iterator, typename FACTOR::const_iterator> gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::ConstFactorRange

A mini implementation of an iterator range, to share const views of frontals and parents.

Definition at line 77 of file Conditional.h.

◆ Frontals

template<class FACTOR , class DERIVEDCONDITIONAL >

typedef ConstFactorRangeIterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Frontals

View of the frontal keys (call frontals())

Definition at line 96 of file Conditional.h.

◆ Parents

template<class FACTOR , class DERIVEDCONDITIONAL >

typedef ConstFactorRangeIterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Parents

View of the separator keys (call parents())

Definition at line 99 of file Conditional.h.

◆ This

template<class FACTOR , class DERIVEDCONDITIONAL >

typedef Conditional<FACTOR,DERIVEDCONDITIONAL> gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::This

private

Typedef to this class.

Definition at line 71 of file Conditional.h.

Constructor & Destructor Documentation

◆ Conditional() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Conditional ( )

inlineprotected

Empty Constructor to make serialization possible

Definition at line 106 of file Conditional.h.

◆ Conditional() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::Conditional ( size_t nrFrontals )

inlineprotected

Constructor

Definition at line 109 of file Conditional.h.

◆ ~Conditional()

template<class FACTOR , class DERIVEDCONDITIONAL >

virtual gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::~Conditional ( )

inlinevirtual

Definition at line 128 of file Conditional.h.

Member Function Documentation

◆ asFactor() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR& gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::asFactor ( )

inlineprivate

Definition at line 231 of file Conditional.h.

◆ asFactor() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

const FACTOR& gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::asFactor ( ) const

inlineprivate

Definition at line 234 of file Conditional.h.

◆ beginFrontals() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginFrontals ( )

inline

Mutable iterator pointing to first frontal key.

Definition at line 195 of file Conditional.h.

◆ beginFrontals() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginFrontals ( ) const

inline

Iterator pointing to first frontal key.

Definition at line 180 of file Conditional.h.

◆ beginParents() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginParents ( )

inline

Mutable iterator pointing to the first parent key.

Definition at line 201 of file Conditional.h.

◆ beginParents() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::beginParents ( ) const

inline

Iterator pointing to the first parent key.

Definition at line 186 of file Conditional.h.

◆ CheckInvariants()

template<class FACTOR , class DERIVEDCONDITIONAL >

template<class VALUES >

bool gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::CheckInvariants	(	const DERIVEDCONDITIONAL &	conditional,
		const VALUES &	x
	)

static

Check invariants of this conditional, given the values x. It tests:

evaluate >= 0.0
evaluate(x) == conditional(x)
exp(logProbability(x)) == evaluate(x)
negLogConstant() = -log(normalizationConstant())
error >= 0.0
logProbability(x) == -(negLogConstant() + error(x))

Parameters

conditional The conditional to test, as a reference to the derived type.

Template Parameters

VALUES HybridValues, or a more narrow type like DiscreteValues.

Definition at line 69 of file Conditional-inst.h.

◆ endFrontals() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endFrontals ( )

inline

Mutable iterator pointing past the last frontal key.

Definition at line 198 of file Conditional.h.

◆ endFrontals() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endFrontals ( ) const

inline

Iterator pointing past the last frontal key.

Definition at line 183 of file Conditional.h.

◆ endParents() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endParents ( )

inline

Mutable iterator pointing past the last parent key.

Definition at line 204 of file Conditional.h.

◆ endParents() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

FACTOR::const_iterator gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::endParents ( ) const

inline

Iterator pointing past the last parent key.

Definition at line 189 of file Conditional.h.

◆ equals()

template<class FACTOR , class DERIVEDCONDITIONAL >

bool gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::equals	(	const This &	c,
		double	tol = `1e-9`
	)		const

check equality

Definition at line 41 of file Conditional-inst.h.

◆ evaluate()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::evaluate ( const HybridValues & c ) const

virtual

All conditional types need to implement an evaluate function, that yields a true probability. The default implementation just exponentiates logProbability.

Reimplemented in gtsam::GaussianConditional, gtsam::DiscreteConditional, gtsam::SymbolicConditional, gtsam::HybridGaussianConditional, and gtsam::HybridConditional.

Definition at line 55 of file Conditional-inst.h.

◆ firstFrontalKey()

template<class FACTOR , class DERIVEDCONDITIONAL >

Key gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::firstFrontalKey ( ) const

inline

Convenience function to get the first frontal key

Definition at line 137 of file Conditional.h.

◆ frontals()

template<class FACTOR , class DERIVEDCONDITIONAL >

Frontals gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::frontals ( ) const

inline

return a view of the frontal keys

Definition at line 145 of file Conditional.h.

◆ logProbability()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::logProbability ( const HybridValues & c ) const

virtual

All conditional types need to implement a logProbability function, for which exp(logProbability(x)) = evaluate(x).

Reimplemented in gtsam::GaussianConditional, gtsam::DiscreteConditional, gtsam::SymbolicConditional, gtsam::HybridGaussianConditional, and gtsam::HybridConditional.

Definition at line 48 of file Conditional-inst.h.

◆ negLogConstant()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::negLogConstant

virtual

All conditional types need to implement this as the negative log of the normalization constant to make it such that error>=0.

Returns: double

Definition at line 62 of file Conditional-inst.h.

◆ nrFrontals() [1/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

size_t& gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals ( )

inline

Mutable version of nrFrontals

Definition at line 192 of file Conditional.h.

◆ nrFrontals() [2/2]

template<class FACTOR , class DERIVEDCONDITIONAL >

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals ( ) const

inline

return the number of frontals

Definition at line 131 of file Conditional.h.

◆ nrParents()

template<class FACTOR , class DERIVEDCONDITIONAL >

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrParents ( ) const

inline

return the number of parents

Definition at line 134 of file Conditional.h.

◆ operator()()

template<class FACTOR , class DERIVEDCONDITIONAL >

double gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::operator() ( const HybridValues & x ) const

inline

Evaluate probability density, sugar.

Definition at line 163 of file Conditional.h.

◆ parents()

template<class FACTOR , class DERIVEDCONDITIONAL >

Parents gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::parents ( ) const

inline

return a view of the parent keys

Definition at line 148 of file Conditional.h.

◆ print()

template<class FACTOR , class DERIVEDCONDITIONAL >

void gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::print	(	const std::string &	s = `"Conditional< FACTOR, DERIVEDCONDITIONAL >"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

print with optional formatter

Definition at line 30 of file Conditional-inst.h.

Member Data Documentation

◆ nrFrontals_

template<class FACTOR , class DERIVEDCONDITIONAL >

size_t gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >::nrFrontals_

protected

The first nrFrontal variables are frontal and the rest are parents.

Definition at line 67 of file Conditional.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Advanced Interface

Detailed Description

template<class FACTOR, class DERIVEDCONDITIONAL> class gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >

Member Typedef Documentation

◆ ConstFactorRange

◆ Frontals

◆ Parents

◆ This

Constructor & Destructor Documentation

◆ Conditional() [1/2]

◆ Conditional() [2/2]

◆ ~Conditional()

Member Function Documentation

◆ asFactor() [1/2]

◆ asFactor() [2/2]

◆ beginFrontals() [1/2]

◆ beginFrontals() [2/2]

◆ beginParents() [1/2]

◆ beginParents() [2/2]

◆ CheckInvariants()

◆ endFrontals() [1/2]

◆ endFrontals() [2/2]

◆ endParents() [1/2]

◆ endParents() [2/2]

◆ equals()

◆ evaluate()

◆ firstFrontalKey()

◆ frontals()

◆ logProbability()

◆ negLogConstant()

◆ nrFrontals() [1/2]

◆ nrFrontals() [2/2]

◆ nrParents()

◆ operator()()

◆ parents()

◆ print()

Member Data Documentation

◆ nrFrontals_

template<class FACTOR, class DERIVEDCONDITIONAL>
class gtsam::Conditional< FACTOR, DERIVEDCONDITIONAL >