Detailed Description

Base class for constraint factors.

Derived classes include SingleValue, BinaryAllDiff, and AllDiff.

Inheritance diagram for gtsam::Constraint:

Public Member Functions
Standard Constructors
	Constraint ()
	Default constructor for I/O.
	~Constraint () override
	Virtual destructor.
Standard Interface
virtual bool	ensureArcConsistency (Key j, Domains *domains) const =0
	Ensure Arc-consistency by checking every possible value of domain j.
virtual shared_ptr	partiallyApply (const DiscreteValues &) const =0
	Partially apply known values.
virtual shared_ptr	partiallyApply (const Domains &) const =0
	Partially apply known values, domain version.
virtual DiscreteFactor::shared_ptr	operator* (double s) const override
	Multiply by a scalar.
DecisionTreeFactor	operator* (const DecisionTreeFactor &dtf) const override
	Multiply by a DecisionTreeFactor and return a DecisionTreeFactor.
DiscreteFactor::shared_ptr	operator/ (const DiscreteFactor::shared_ptr &df) const override
	divide by DiscreteFactor::shared_ptr f (safely)
uint64_t	nrValues () const override
	Get the number of non-zero values contained in this factor.
DiscreteFactor::shared_ptr	sum (size_t nrFrontals) const override
	Create new factor by summing all values with the same separator values.
DiscreteFactor::shared_ptr	sum (const Ordering &keys) const override
	Create new factor by summing all values with the same separator values.
double	max () const override
	Find the max value.
DiscreteFactor::shared_ptr	max (size_t nrFrontals) const override
	Create new factor by maximizing over all values with the same separator.
DiscreteFactor::shared_ptr	max (const Ordering &keys) const override
	Create new factor by maximizing over all values with the same separator.
AlgebraicDecisionTree< Key >	errorTree () const override
	Compute error for each assignment and return as a tree.
DiscreteFactor::shared_ptr	restrict (const DiscreteValues &assignment) const override
	Compute error for each assignment and return as a tree.
Wrapper support
std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as markdown table.
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const override
	Render as html table.
Public Member Functions inherited from gtsam::DiscreteFactor
	DiscreteFactor ()
	Default constructor creates empty factor.
template<typename CONTAINER>
	DiscreteFactor (const CONTAINER &keys, const std::map< Key, size_t > cardinalities={})
	Construct from container of keys and map of cardinalities.
virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const
	equals
void	print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
DiscreteKeys	discreteKeys () const
	Return all the discrete keys associated with this factor.
std::map< Key, size_t >	cardinalities () const
size_t	cardinality (Key j) const
virtual double	evaluate (const Assignment< Key > &values) const =0
	Calculate probability for given values.
double	operator() (const DiscreteValues &values) const
	Find value for given assignment of values to variables.
virtual double	error (const DiscreteValues &values) const
	Error is just -log(value).
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual DiscreteFactor::shared_ptr	multiply (const DiscreteFactor::shared_ptr &df) const
	Multiply in a DiscreteFactor and return the result as DiscreteFactor, both via shared pointers.
virtual DecisionTreeFactor	toDecisionTreeFactor () const =0
virtual TableFactor	toTableFactor () const
	Convert to a sparse table, falling back through a decision tree.
DiscreteFactor::shared_ptr	scale () const
	Scale the factor values by the maximum to prevent underflow/overflow.
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const KeyVector &	keys () const
	Access the factor's involved variable keys.
const_iterator	begin () const
	Iterator at beginning of involved variable keys.
const_iterator	end () const
	Iterator at end of involved variable keys.
size_t	size () const
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef std::shared_ptr< Constraint >	shared_ptr
Public Types inherited from gtsam::DiscreteFactor
typedef DiscreteFactor	This
	This class.
typedef std::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
using	Values = DiscreteValues
	backwards compatibility
using	Unary = std::function<double(const double&)>
using	UnaryAssignment
using	Binary = std::function<double(const double, const double)>
using	Names = DiscreteValues::Names
	Translation table from values to strings.
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Member Functions
	Constraint (Key j)
	Construct unary constraint factor.
	Constraint (Key j1, Key j2)
	Construct binary constraint factor.
	Constraint (const KeyVector &js)
	Construct n-way constraint factor.
template<class KeyIterator>
	Constraint (KeyIterator beginKey, KeyIterator endKey)
	Construct from a key iterator range.
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.

Additional Inherited Members
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
Protected Attributes inherited from gtsam::DiscreteFactor
std::map< Key, size_t >	cardinalities_
	Map of Keys and their cardinalities.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Member Function Documentation

◆ ensureArcConsistency()

virtual bool gtsam::Constraint::ensureArcConsistency	(	Key	j,
		Domains *	domains ) const

pure virtual

Ensure Arc-consistency by checking every possible value of domain j.

Parameters

j	domain to be checked
(in/out)	domains all domains, but only domains->at(j) will be checked.

Returns: true if domains->at(j) was changed, false otherwise.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::Domain, and gtsam::SingleValue.

◆ errorTree()

AlgebraicDecisionTree< Key > gtsam::Constraint::errorTree ( ) const

inlineoverridevirtual

Compute error for each assignment and return as a tree.

Reimplemented from gtsam::DiscreteFactor.

◆ html()

std::string gtsam::Constraint::html	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

inlineoverridevirtual

Render as html table.

Implements gtsam::DiscreteFactor.

◆ markdown()

std::string gtsam::Constraint::markdown	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

inlineoverridevirtual

Render as markdown table.

Implements gtsam::DiscreteFactor.

◆ max() [1/3]

double gtsam::Constraint::max ( ) const

inlineoverridevirtual

Find the max value.

Implements gtsam::DiscreteFactor.

◆ max() [2/3]

DiscreteFactor::shared_ptr gtsam::Constraint::max ( const Ordering & keys ) const

inlineoverridevirtual

Create new factor by maximizing over all values with the same separator.

Implements gtsam::DiscreteFactor.

◆ max() [3/3]

DiscreteFactor::shared_ptr gtsam::Constraint::max ( size_t nrFrontals ) const

inlineoverridevirtual

Create new factor by maximizing over all values with the same separator.

Implements gtsam::DiscreteFactor.

◆ nrValues()

uint64_t gtsam::Constraint::nrValues ( ) const

inlineoverridevirtual

Get the number of non-zero values contained in this factor.

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::Domain.

◆ operator*() [1/2]

DecisionTreeFactor gtsam::Constraint::operator* ( const DecisionTreeFactor & dtf ) const

inlineoverridevirtual

Multiply by a DecisionTreeFactor and return a DecisionTreeFactor.

Implements gtsam::DiscreteFactor.

Reimplemented in gtsam::Domain, and gtsam::SingleValue.

◆ operator*() [2/2]

virtual DiscreteFactor::shared_ptr gtsam::Constraint::operator* ( double s ) const

inlineoverridevirtual

Multiply by a scalar.

Implements gtsam::DiscreteFactor.

◆ operator/()

DiscreteFactor::shared_ptr gtsam::Constraint::operator/ ( const DiscreteFactor::shared_ptr & df ) const

inlineoverridevirtual

divide by DiscreteFactor::shared_ptr f (safely)

Implements gtsam::DiscreteFactor.

◆ partiallyApply() [1/2]

virtual shared_ptr gtsam::Constraint::partiallyApply ( const DiscreteValues & ) const

pure virtual

Partially apply known values.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::Domain, and gtsam::SingleValue.

◆ partiallyApply() [2/2]

virtual shared_ptr gtsam::Constraint::partiallyApply ( const Domains & ) const

pure virtual

Partially apply known values, domain version.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::Domain, and gtsam::SingleValue.

◆ restrict()

DiscreteFactor::shared_ptr gtsam::Constraint::restrict ( const DiscreteValues & assignment ) const

inlineoverridevirtual

Compute error for each assignment and return as a tree.

Implements gtsam::DiscreteFactor.

◆ sum() [1/2]

DiscreteFactor::shared_ptr gtsam::Constraint::sum ( const Ordering & keys ) const

inlineoverridevirtual

Create new factor by summing all values with the same separator values.

Implements gtsam::DiscreteFactor.

◆ sum() [2/2]

DiscreteFactor::shared_ptr gtsam::Constraint::sum ( size_t nrFrontals ) const

inlineoverridevirtual

Create new factor by summing all values with the same separator values.

Implements gtsam::DiscreteFactor.

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/discrete/Constraint.h

Detailed Description

Public Member Functions

Public Types

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ ensureArcConsistency()

◆ errorTree()

◆ html()

◆ markdown()

◆ max() [1/3]

◆ max() [2/3]

◆ max() [3/3]

◆ nrValues()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator/()

◆ partiallyApply() [1/2]

◆ partiallyApply() [2/2]

◆ restrict()

◆ sum() [1/2]

◆ sum() [2/2]