Detailed Description

We structure the search as a set of slots, each with a factor and a set of variable assignments that need to be chosen.

In addition, each slot has a heuristic associated with it.

Example: The factors in the search problem (always parents before descendents!): [P(A), P(B|A), P(C|A,B)] The assignments for each factor. [[A0,A1], [B0,B1], [C0,C1,C2]] A lower bound on the cost-to-go after each slot, e.g., [-log(max_B P(B|A)) -log(max_C P(C|A,B)), -log(max_C P(C|A,B)), 0.0] Note that these decrease as we move from right to left. We keep the global lower bound as lowerBound_. In the example, it is: -log(max_B P(B|A)) -log(max_C P(C|A,B)) -log(max_C P(C|A,B))

Public Attributes
DiscreteFactor::shared_ptr	factor
std::vector< DiscreteValues >	assignments
double	heuristic

Friends
std::ostream &	operator<< (std::ostream &os, const Slot &slot)

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

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

Detailed Description

Public Attributes

Friends