gtsam::HybridFactor Class Reference

Detailed Description

Base class for truly hybrid probabilistic factors.

a mixture of Gaussian and discrete distributions over a set of variables.

Examples:

• HybridNonlinearFactor
• HybridGaussianFactor
• HybridGaussianConditional

Symbolic factors, used to represent a graph structure, such as

Inheritance diagram for gtsam::HybridFactor:

Public Member Functions
Standard Constructors
	HybridFactor ()=default
	Default constructor creates empty factor.
	HybridFactor (const KeyVector &keys)
	Construct hybrid factor from continuous keys.
	HybridFactor (const DiscreteKeys &discreteKeys)
	Construct hybrid factor from discrete keys.
	HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
	Construct a new Hybrid Factor object.
Testable
virtual bool	equals (const HybridFactor &lf, double tol=1e-9) const
	equals
void	print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Standard Interface
bool	isDiscrete () const
	True if this is a factor of discrete variables only.
bool	isContinuous () const
	True if this is a factor of continuous variables only.
bool	isHybrid () const
	True is this is a Discrete-Continuous factor.
size_t	nrContinuous () const
	Return the number of continuous variables in this factor.
const DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor.
const KeyVector &	continuousKeys () const
	Return only the continuous keys for this factor.
virtual AlgebraicDecisionTree< Key >	errorTree (const VectorValues &continuousValues) const =0
	Compute tree of linear errors.
virtual std::shared_ptr< Factor >	restrict (const DiscreteValues &discreteValues) const =0
	Restrict the factor to the given discrete values.
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.
virtual double	error (const HybridValues &hybridValues) const
	All factor types need to implement an error function.
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
enum class	Category { None , Discrete , Continuous , Hybrid }
	Enum to help with categorizing hybrid factors.
typedef HybridFactor	This
	This class.
typedef std::shared_ptr< HybridFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
DiscreteKeys	discreteKeys_
KeyVector	continuousKeys_
	Record continuous keys for book-keeping.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Additional Inherited Members
	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.
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.

Constructor & Destructor Documentation

HybridFactor() [1/3]

gtsam::HybridFactor::HybridFactor ( const KeyVector & keys )

explicit

Construct hybrid factor from continuous keys.

Parameters

keys	Vector of continuous keys.

HybridFactor() [2/3]

gtsam::HybridFactor::HybridFactor ( const DiscreteKeys & discreteKeys )

explicit

Construct hybrid factor from discrete keys.

Parameters

keys	Vector of discrete keys.

HybridFactor() [3/3]

gtsam::HybridFactor::HybridFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys )

Construct a new Hybrid Factor object.

Parameters

continuousKeys	Vector of keys for continuous variables.
discreteKeys	Vector of keys for discrete variables.

Member Function Documentation

equals()

bool gtsam::HybridFactor::equals ( const HybridFactor & lf, double tol = 1e-9 ) const

virtual

equals

Reimplemented in gtsam::HybridConditional, gtsam::HybridGaussianConditional, gtsam::HybridGaussianFactor, and gtsam::HybridNonlinearFactor.

errorTree()

virtual AlgebraicDecisionTree< Key > gtsam::HybridFactor::errorTree ( const VectorValues & continuousValues ) const

pure virtual

Compute tree of linear errors.

Implemented in gtsam::HybridConditional, and gtsam::HybridGaussianFactor.

print()

void gtsam::HybridFactor::print ( const std::string & s = "HybridFactor\n", const KeyFormatter & formatter = DefaultKeyFormatter ) const

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::HybridGaussianConditional, gtsam::HybridGaussianFactor, and gtsam::HybridNonlinearFactor.

restrict()

virtual std::shared_ptr< Factor > gtsam::HybridFactor::restrict ( const DiscreteValues & discreteValues ) const

pure virtual

Restrict the factor to the given discrete values.

Implemented in gtsam::HybridConditional, gtsam::HybridGaussianConditional, gtsam::HybridGaussianFactor, and gtsam::HybridNonlinearFactor.

---

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridFactor.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridFactor.cpp