Alias for DecisionTree of GaussianFactorGraphs and their scalar sums. More...

#include <HybridGaussianProductFactor.h>

Inheritance diagram for gtsam::HybridGaussianProductFactor:

Public Types
using	Base = DecisionTree< Key, GaussianFactorGraphValuePair >

Public Types inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
using	Binary = std::function< GaussianFactorGraphValuePair(const GaussianFactorGraphValuePair &, const GaussianFactorGraphValuePair &)>

using	CompareFunc = std::function< bool(const GaussianFactorGraphValuePair &, const GaussianFactorGraphValuePair &)>

using	LabelC = std::pair< Key, size_t >

using	LabelFormatter = std::function< std::string(Key)>

using	NodePtr = typename Node::Ptr

using	Unary = std::function< GaussianFactorGraphValuePair(const GaussianFactorGraphValuePair &)>

using	UnaryAssignment = std::function< GaussianFactorGraphValuePair(const Assignment< Key > &, const GaussianFactorGraphValuePair &)>

using	ValueFormatter = std::function< std::string(GaussianFactorGraphValuePair)>

Public Member Functions
Constructors
	HybridGaussianProductFactor ()=default
	Default constructor. More...

template<class FACTOR >
	HybridGaussianProductFactor (const std::shared_ptr< FACTOR > &factor)
	Construct from a single factor. More...

	HybridGaussianProductFactor (Base &&tree)
	Construct from DecisionTree. More...

Operators
HybridGaussianProductFactor	operator+ (const GaussianFactor::shared_ptr &factor) const
	Add GaussianFactor into HybridGaussianProductFactor. More...

HybridGaussianProductFactor	operator+ (const HybridGaussianFactor &factor) const
	Add HybridGaussianFactor into HybridGaussianProductFactor. More...

HybridGaussianProductFactor &	operator+= (const GaussianFactor::shared_ptr &factor)
	Add-assign operator for GaussianFactor. More...

HybridGaussianProductFactor &	operator+= (const HybridGaussianFactor &factor)
	Add-assign operator for HybridGaussianFactor. More...

Testable
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print the HybridGaussianProductFactor. More...

bool	equals (const HybridGaussianProductFactor &other, double tol=1e-9) const
	Check if this HybridGaussianProductFactor is equal to another. More...

Other methods
HybridGaussianProductFactor	removeEmpty () const
	Remove empty GaussianFactorGraphs from the decision tree. More...

Public Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
	DecisionTree ()

	DecisionTree (const GaussianFactorGraphValuePair &y)

	DecisionTree (const Key &label, const GaussianFactorGraphValuePair &y1, const GaussianFactorGraphValuePair &y2)
	Create tree with 2 assignments `y1`, `y2`, splitting on variable `label` More...

	DecisionTree (const LabelC &label, const GaussianFactorGraphValuePair &y1, const GaussianFactorGraphValuePair &y2)

	DecisionTree (const std::vector< LabelC > &labelCs, const std::vector< GaussianFactorGraphValuePair > &ys)

	DecisionTree (const std::vector< LabelC > &labelCs, const std::string &table)

	DecisionTree (Iterator begin, Iterator end, const Key &label)

	DecisionTree (const Key &label, const DecisionTree &f0, const DecisionTree &f1)

	DecisionTree (const Unary &op, DecisionTree &&other) noexcept
	Move constructor for DecisionTree. Very efficient as does not allocate anything, just changes in-place. But `other` is consumed. More...

	DecisionTree (const DecisionTree< Key, X > &other, Func Y_of_X)
	Convert from a different value type. More...

	DecisionTree (const DecisionTree< M, X > &other, const std::map< M, Key > &map, Func Y_of_X)
	Convert from a different value type X to value type Y, also translate labels via map from type M to L. More...

void	print (const std::string &s, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter) const
	GTSAM-style print. More...

bool	equals (const DecisionTree &other, const CompareFunc &compare=&DefaultCompare) const

virtual	~DecisionTree ()=default
	Make virtual. More...

bool	empty () const
	Check if tree is empty. More...

bool	operator== (const DecisionTree &q) const

const GaussianFactorGraphValuePair &	operator() (const Assignment< Key > &x) const

void	visit (Func f) const
	Visit all leaves in depth-first fashion. More...

void	visitLeaf (Func f) const
	Visit all leaves in depth-first fashion. More...

void	visitWith (Func f) const
	Visit all leaves in depth-first fashion. More...

size_t	nrLeaves () const
	Return the number of leaves in the tree. More...

X	fold (Func f, X x0) const
	Fold a binary function over the tree, returning accumulator. More...

std::set< Key >	labels () const

DecisionTree	apply (const Unary &op) const

DecisionTree	apply (const UnaryAssignment &op) const
	Apply Unary operation "op" to f while also providing the corresponding assignment. More...

DecisionTree	apply (const DecisionTree &g, const Binary &op) const

DecisionTree	choose (const Key &label, size_t index) const

DecisionTree	combine (const Key &label, size_t cardinality, const Binary &op) const

DecisionTree	combine (const LabelC &labelC, const Binary &op) const

void	dot (std::ostream &os, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const

void	dot (const std::string &name, const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const

std::string	dot (const LabelFormatter &labelFormatter, const ValueFormatter &valueFormatter, bool showZero=true) const

std::pair< DecisionTree< Key, A >, DecisionTree< Key, B > >	split (std::function< std::pair< A, B >(const GaussianFactorGraphValuePair &)> AB_of_Y) const
	Convert into two trees with value types A and B. More...

	DecisionTree (const NodePtr &root)

Additional Inherited Members
Static Public Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
static NodePtr	compose (Iterator begin, Iterator end, const Key &label)

Public Attributes inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
NodePtr	root_
	A DecisionTree just contains the root. TODO(dellaert): make protected. More...

Static Protected Member Functions inherited from gtsam::DecisionTree< Key, GaussianFactorGraphValuePair >
static NodePtr	build (It begin, It end, ValueIt beginY, ValueIt endY)

static NodePtr	convertFrom (const typename DecisionTree< Key, X >::NodePtr &f, std::function< GaussianFactorGraphValuePair(const X &)> Y_of_X)
	Convert from a DecisionTree<L, X> to DecisionTree<L, Y>. More...

static NodePtr	convertFrom (const typename DecisionTree< M, X >::NodePtr &f, std::function< Key(const M &)> L_of_M, std::function< GaussianFactorGraphValuePair(const X &)> Y_of_X)
	Convert from a DecisionTree<M, X> to DecisionTree<L, Y>. More...

static NodePtr	create (It begin, It end, ValueIt beginY, ValueIt endY)

static bool	DefaultCompare (const GaussianFactorGraphValuePair &a, const GaussianFactorGraphValuePair &b)
	Default method for comparison of two objects of type Y. More...

Detailed Description

Alias for DecisionTree of GaussianFactorGraphs and their scalar sums.

Definition at line 34 of file HybridGaussianProductFactor.h.

Member Typedef Documentation

◆ Base

using gtsam::HybridGaussianProductFactor::Base = DecisionTree<Key, GaussianFactorGraphValuePair>

Definition at line 37 of file HybridGaussianProductFactor.h.

Constructor & Destructor Documentation

◆ HybridGaussianProductFactor() [1/3]

gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( )

default

Default constructor.

◆ HybridGaussianProductFactor() [2/3]

template<class FACTOR >

gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( const std::shared_ptr< FACTOR > & factor )

inline

Construct from a single factor.

Template Parameters

FACTOR Factor type

Parameters

factor Shared pointer to the factor

Definition at line 51 of file HybridGaussianProductFactor.h.

◆ HybridGaussianProductFactor() [3/3]

gtsam::HybridGaussianProductFactor::HybridGaussianProductFactor ( Base && tree )

inline

Construct from DecisionTree.

Parameters

tree	Decision tree to construct from

Definition at line 58 of file HybridGaussianProductFactor.h.

Member Function Documentation

◆ equals()

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

Check if this HybridGaussianProductFactor is equal to another.

Parameters

other	The other HybridGaussianProductFactor to compare with
tol	Tolerance for floating point comparisons

Returns: true if equal, false otherwise

Definition at line 88 of file HybridGaussianProductFactor.cpp.

◆ operator+() [1/2]

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::operator+ ( const GaussianFactor::shared_ptr & factor ) const

Add GaussianFactor into HybridGaussianProductFactor.

Definition at line 51 of file HybridGaussianProductFactor.cpp.

◆ operator+() [2/2]

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::operator+ ( const HybridGaussianFactor & factor ) const

Add HybridGaussianFactor into HybridGaussianProductFactor.

Definition at line 45 of file HybridGaussianProductFactor.cpp.

◆ operator+=() [1/2]

HybridGaussianProductFactor & gtsam::HybridGaussianProductFactor::operator+= ( const GaussianFactor::shared_ptr & factor )

Add-assign operator for GaussianFactor.

Definition at line 57 of file HybridGaussianProductFactor.cpp.

◆ operator+=() [2/2]

HybridGaussianProductFactor & gtsam::HybridGaussianProductFactor::operator+= ( const HybridGaussianFactor & factor )

Add-assign operator for HybridGaussianFactor.

Definition at line 64 of file HybridGaussianProductFactor.cpp.

◆ print()

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

Print the HybridGaussianProductFactor.

Parameters

s	Optional string to prepend
formatter	Optional key formatter

Definition at line 71 of file HybridGaussianProductFactor.cpp.

◆ removeEmpty()

HybridGaussianProductFactor gtsam::HybridGaussianProductFactor::removeEmpty ( ) const

Remove empty GaussianFactorGraphs from the decision tree.

Returns: A new HybridGaussianProductFactor with empty GaussianFactorGraphs removed

If any GaussianFactorGraph in the decision tree contains a nullptr, convert that leaf to an empty GaussianFactorGraph with zero scalar sum. This is needed because the DecisionTree will otherwise create a GaussianFactorGraph with a single (null) factor, which doesn't register as null.

Definition at line 96 of file HybridGaussianProductFactor.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

Constructor & Destructor Documentation

◆ HybridGaussianProductFactor() [1/3]

◆ HybridGaussianProductFactor() [2/3]

◆ HybridGaussianProductFactor() [3/3]

Member Function Documentation

◆ equals()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ print()

◆ removeEmpty()