#include <DiscreteFactorGraph.h>

Inheritance diagram for gtsam::DiscreteFactorGraph:

[legend]

Public Types
using	Base = FactorGraph< DiscreteFactor >
	base factor graph type More...

using	BaseEliminateable = EliminateableFactorGraph< This >
	for elimination More...

using	Indices = KeyVector

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = DiscreteFactorGraph
	this class More...

using	Values = DiscreteValues
	backwards compatibility More...

Public Types inherited from gtsam::FactorGraph< DiscreteFactor >
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef DiscreteFactor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef std::shared_ptr< DiscreteFactor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Types inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
typedef EliminationTraitsType::BayesNetType	BayesNetType
	Bayes net type produced by sequential elimination. More...

typedef EliminationTraitsType::BayesTreeType	BayesTreeType
	Bayes tree type produced by multifrontal elimination. More...

typedef EliminationTraitsType::ConditionalType	ConditionalType
	Conditional type stored in the Bayes net produced by elimination. More...

typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)>	Eliminate
	The function type that does a single dense elimination step on a subgraph. More...

typedef std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< _FactorType > >	EliminationResult

typedef EliminationTraits< FactorGraphType >	EliminationTraitsType
	Typedef to the specific EliminationTraits for this graph. More...

typedef EliminationTraitsType::EliminationTreeType	EliminationTreeType
	Elimination tree type that can do sequential elimination of this graph. More...

typedef EliminationTraitsType::JunctionTreeType	JunctionTreeType
	Junction tree type that can do multifrontal elimination of this graph. More...

typedef std::optional< Ordering::OrderingType >	OptionalOrderingType
	Typedef for an optional ordering type. More...

typedef std::optional< std::reference_wrapper< const VariableIndex > >	OptionalVariableIndex

Public Member Functions
template<typename... Args>
void	add (Args &&... args)

	DiscreteFactorGraph ()
	map from keys to values More...

template<class CONTAINER >
	DiscreteFactorGraph (const CONTAINER &factors)

template<class DERIVED_FACTOR >
	DiscreteFactorGraph (const FactorGraph< DERIVED_FACTOR > &graph)

template<typename ITERATOR >
	DiscreteFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

DiscreteKeys	discreteKeys () const
	Return the DiscreteKeys in this factor graph. More...

KeySet	keys () const

DiscreteLookupDAG	maxProduct (const Ordering &ordering) const
	Implement the max-product algorithm. More...

DiscreteLookupDAG	maxProduct (OptionalOrderingType orderingType={}) const
	Implement the max-product algorithm. More...

double	operator() (const DiscreteValues &values) const

DiscreteValues	optimize (const Ordering &ordering) const
	Find the maximum probable explanation (MPE) by doing max-product. More...

DiscreteValues	optimize (OptionalOrderingType orderingType={}) const
	Find the maximum probable explanation (MPE) by doing max-product. More...

void	print (const std::string &s="DiscreteFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print More...

DecisionTreeFactor	product () const

DiscreteBayesNet	sumProduct (const Ordering &ordering) const
	Implement the sum-product algorithm. More...

DiscreteBayesNet	sumProduct (OptionalOrderingType orderingType={}) const
	Implement the sum-product algorithm. More...

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

Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
	Render as markdown tables. More...

std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
	Render as html tables. More...

Public Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

virtual	~FactorGraph ()=default

void	reserve (size_t size)

IsDerived< DERIVEDFACTOR >	push_back (std::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr. More...

IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&... args)
	Emplace a shared pointer to factor of given type. More...

IsDerived< DERIVEDFACTOR >	add (std::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator+= (std::shared_ptr< DERIVEDFACTOR > factor)
	Append factor to factor graph. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator, (std::shared_ptr< DERIVEDFACTOR > factor)
	Overload comma operator to allow for append chaining. More...

HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied) More...

HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied). More...

void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

This &	operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)

std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance. More...

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

std::shared_ptr< F >	at (size_t i)

const std::shared_ptr< F >	at (size_t i) const
	Const version of templated `at` method. More...

const sharedFactor	operator[] (size_t i) const

sharedFactor &	operator[] (size_t i)

const_iterator	begin () const

const_iterator	end () const

sharedFactor	front () const

sharedFactor	back () const

double	error (const HybridValues &values) const

iterator	begin ()

iterator	end ()

virtual void	resize (size_t size)

void	remove (size_t i)

void	replace (size_t index, sharedFactor factor)

iterator	erase (iterator item)

iterator	erase (iterator first, iterator last)

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format. More...

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Public Member Functions inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
std::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

Additional Inherited Members
Protected Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

Protected Attributes inherited from gtsam::FactorGraph< DiscreteFactor >
FastVector< sharedFactor >	factors_

Detailed Description

A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e. Factor == DiscreteFactor

Definition at line 99 of file DiscreteFactorGraph.h.

Member Typedef Documentation

◆ Base

using gtsam::DiscreteFactorGraph::Base = FactorGraph<DiscreteFactor>

base factor graph type

Definition at line 104 of file DiscreteFactorGraph.h.

◆ BaseEliminateable

using gtsam::DiscreteFactorGraph::BaseEliminateable = EliminateableFactorGraph<This>

for elimination

Definition at line 106 of file DiscreteFactorGraph.h.

◆ Indices

using gtsam::DiscreteFactorGraph::Indices = KeyVector

Definition at line 111 of file DiscreteFactorGraph.h.

◆ shared_ptr

using gtsam::DiscreteFactorGraph::shared_ptr = std::shared_ptr<This>

shared_ptr to This

Definition at line 107 of file DiscreteFactorGraph.h.

◆ This

using gtsam::DiscreteFactorGraph::This = DiscreteFactorGraph

this class

Definition at line 103 of file DiscreteFactorGraph.h.

◆ Values

using gtsam::DiscreteFactorGraph::Values = DiscreteValues

backwards compatibility

Definition at line 109 of file DiscreteFactorGraph.h.

Constructor & Destructor Documentation

◆ DiscreteFactorGraph() [1/4]

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( )

inline

map from keys to values

Default constructor

Definition at line 114 of file DiscreteFactorGraph.h.

◆ DiscreteFactorGraph() [2/4]

template<typename ITERATOR >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Construct from iterator over factors

Definition at line 118 of file DiscreteFactorGraph.h.

◆ DiscreteFactorGraph() [3/4]

template<class CONTAINER >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( const CONTAINER & factors )

inlineexplicit

Construct from container of factors (shared_ptr or plain objects)

Definition at line 123 of file DiscreteFactorGraph.h.

◆ DiscreteFactorGraph() [4/4]

template<class DERIVED_FACTOR >

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( const FactorGraph< DERIVED_FACTOR > & graph )

inline

Implicit copy/downcast constructor to override explicit template container constructor

Definition at line 128 of file DiscreteFactorGraph.h.

Member Function Documentation

◆ add()

template<typename... Args>

void gtsam::DiscreteFactorGraph::add ( Args &&... args )

inline

Add a decision-tree factor

Definition at line 139 of file DiscreteFactorGraph.h.

◆ discreteKeys()

DiscreteKeys gtsam::DiscreteFactorGraph::discreteKeys ( ) const

Return the DiscreteKeys in this factor graph.

Definition at line 54 of file DiscreteFactorGraph.cpp.

◆ equals()

bool gtsam::DiscreteFactorGraph::equals	(	const This &	fg,
		double	tol = `1e-9`
	)		const

Definition at line 40 of file DiscreteFactorGraph.cpp.

◆ html()

string gtsam::DiscreteFactorGraph::html	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const DiscreteFactor::Names &	names = `{}`
	)		const

Render as html tables.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, a map from Key to category names.

Returns: std::string a (potentially long) html string.

Definition at line 259 of file DiscreteFactorGraph.cpp.

◆ keys()

KeySet gtsam::DiscreteFactorGraph::keys ( ) const

Return the set of variables involved in the factors (set union)

Definition at line 45 of file DiscreteFactorGraph.cpp.

◆ markdown()

string gtsam::DiscreteFactorGraph::markdown	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const DiscreteFactor::Names &	names = `{}`
	)		const

Render as markdown tables.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, a map from Key to category names.

Returns: std::string a (potentially long) markdown string.

Definition at line 245 of file DiscreteFactorGraph.cpp.

◆ maxProduct() [1/2]

DiscreteLookupDAG gtsam::DiscreteFactorGraph::maxProduct ( const Ordering & ordering ) const

Implement the max-product algorithm.

Parameters

ordering

Returns: DiscreteLookupDAG `DAG with lookup tables

Definition at line 195 of file DiscreteFactorGraph.cpp.

◆ maxProduct() [2/2]

DiscreteLookupDAG gtsam::DiscreteFactorGraph::maxProduct ( OptionalOrderingType orderingType = {} ) const

Implement the max-product algorithm.

Parameters

orderingType : one of COLAMD, METIS, NATURAL, CUSTOM

Returns: DiscreteLookupDAG DAG with lookup tables

Definition at line 188 of file DiscreteFactorGraph.cpp.

◆ operator()()

double gtsam::DiscreteFactorGraph::operator() ( const DiscreteValues & values ) const

Evaluates the factor graph given values, returns the joint probability of the factor graph given specific instantiation of values

Definition at line 76 of file DiscreteFactorGraph.cpp.

◆ optimize() [1/2]

DiscreteValues gtsam::DiscreteFactorGraph::optimize ( const Ordering & ordering ) const

Find the maximum probable explanation (MPE) by doing max-product.

Parameters

ordering

Returns: DiscreteValues : MPE

Definition at line 210 of file DiscreteFactorGraph.cpp.

◆ optimize() [2/2]

DiscreteValues gtsam::DiscreteFactorGraph::optimize ( OptionalOrderingType orderingType = {} ) const

Find the maximum probable explanation (MPE) by doing max-product.

Parameters

orderingType

Returns: DiscreteValues : MPE

Definition at line 203 of file DiscreteFactorGraph.cpp.

◆ print()

void gtsam::DiscreteFactorGraph::print	(	const std::string &	s = `"DiscreteFactorGraph"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::FactorGraph< DiscreteFactor >.

Reimplemented in gtsam::Scheduler.

Definition at line 85 of file DiscreteFactorGraph.cpp.

◆ product()

DecisionTreeFactor gtsam::DiscreteFactorGraph::product ( ) const

return product of all factors as a single factor

Definition at line 67 of file DiscreteFactorGraph.cpp.

◆ sumProduct() [1/2]

DiscreteBayesNet gtsam::DiscreteFactorGraph::sumProduct ( const Ordering & ordering ) const

Implement the sum-product algorithm.

Parameters

ordering

Returns: DiscreteBayesNet encoding posterior P(X|Z)

Definition at line 175 of file DiscreteFactorGraph.cpp.

◆ sumProduct() [2/2]

DiscreteBayesNet gtsam::DiscreteFactorGraph::sumProduct ( OptionalOrderingType orderingType = {} ) const

Implement the sum-product algorithm.

Parameters

orderingType : one of COLAMD, METIS, NATURAL, CUSTOM

Returns: DiscreteBayesNet encoding posterior P(X|Z)

Definition at line 168 of file DiscreteFactorGraph.cpp.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ BaseEliminateable

◆ Indices

◆ shared_ptr

◆ This

◆ Values

Constructor & Destructor Documentation

◆ DiscreteFactorGraph() [1/4]

◆ DiscreteFactorGraph() [2/4]

◆ DiscreteFactorGraph() [3/4]

◆ DiscreteFactorGraph() [4/4]

Member Function Documentation

◆ add()

◆ discreteKeys()

◆ equals()

◆ html()

◆ keys()

◆ markdown()

◆ maxProduct() [1/2]

◆ maxProduct() [2/2]

◆ operator()()

◆ optimize() [1/2]

◆ optimize() [2/2]

◆ print()

◆ product()

◆ sumProduct() [1/2]

◆ sumProduct() [2/2]