gtsam::HybridValues Class Reference

Detailed Description

HybridValues represents a collection of DiscreteValues and VectorValues.

It is typically used to store the variables of a HybridGaussianFactorGraph. Optimizing a HybridGaussianBayesNet returns this class.

Public Member Functions
Standard Constructors
	HybridValues ()=default
	Default constructor creates an empty HybridValues.
	HybridValues (const VectorValues &cv, const DiscreteValues &dv)
	Construct from DiscreteValues and VectorValues.
	HybridValues (const VectorValues &cv, const DiscreteValues &dv, const Values &v)
	Construct from all values types.
	HybridValues (const DiscreteValues &dv, const Values &v)
	Construct from DiscreteValues and Values.
Testable
void	print (const std::string &s="HybridValues", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print required by Testable for unit testing
bool	equals (const HybridValues &other, double tol=1e-9) const
	equals required by Testable for unit testing
Interface
const VectorValues &	continuous () const
	Return the multi-dimensional vector values.
const DiscreteValues &	discrete () const
	Return the discrete values.
const Values &	nonlinear () const
	Return the nonlinear values.
bool	existsVector (Key j)
	Check whether a variable with key j exists in VectorValues.
bool	existsDiscrete (Key j)
	Check whether a variable with key j exists in DiscreteValues.
bool	existsNonlinear (Key j)
	Check whether a variable with key j exists in values.
bool	exists (Key j)
	Check whether a variable with key j exists.
HybridValues	retract (const VectorValues &delta) const
	Add a delta config to current config and returns a new config.
HybridValues &	insert (Key j, const Vector &value)
	Insert a vector value with key j.
HybridValues &	insert (Key j, size_t value)
	Insert a discrete value with key j.
template<typename T>
HybridValues &	insertNonlinear (Key j, const T &value)
	Insert a nonlinear value with key j.
void	insert_or_assign (Key j, const Vector &value)
	insert_or_assign() , similar to Values.h
void	insert_or_assign (Key j, size_t value)
	insert_or_assign() , similar to Values.h
HybridValues &	insert (const VectorValues &values)
	Insert all continuous values from values.
HybridValues &	insert (const DiscreteValues &values)
	Insert all discrete values from values.
HybridValues &	insert (const Values &values)
	Insert all values from values.
HybridValues &	insert (const HybridValues &values)
	Insert all values from values.
Vector &	at (Key j)
	Read/write access to the vector value with key j, throws std::out_of_range if j does not exist.
size_t &	atDiscrete (Key j)
	Read/write access to the discrete value with key j, throws std::out_of_range if j does not exist.
HybridValues &	update (const VectorValues &values)
	For all key/value pairs in values, replace continuous values with corresponding keys in this object with those in values.
HybridValues &	update (const DiscreteValues &values)
	For all key/value pairs in values, replace discrete values with corresponding keys in this object with those in values.
HybridValues &	update (const Values &values)
	For all key/value pairs in values, replace nonlinear values with corresponding keys in this object with those in values.
HybridValues &	update (const HybridValues &values)
	For all key/value pairs in values, replace all values with corresponding keys in this object with those in values.
VectorValues	continuousSubset (const KeyVector &keys) const
	Extract continuous values with given keys.
Wrapper support
std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output as a html table.

Member Function Documentation

html()

std::string HybridValues::html

(

const KeyFormatter &

keyFormatter = DefaultKeyFormatter

)

const

Output as a html table.

Parameters

keyFormatter

function that formats keys.

Returns

string html output.

insert() [1/6]

HybridValues & HybridValues::insert

(

const DiscreteValues &

values

)

Insert all discrete values from values.

Throws an invalid_argument exception if any keys to be inserted are already used.

insert() [2/6]

HybridValues & HybridValues::insert

(

const HybridValues &

values

)

Insert all values from values.

Throws an invalid_argument exception if any keys to be inserted are already used.

insert() [3/6]

HybridValues & HybridValues::insert

(

const Values &

values

)

Insert all values from values.

Throws an invalid_argument exception if any keys to be inserted are already used.

insert() [4/6]

HybridValues & HybridValues::insert

(

const VectorValues &

values

)

Insert all continuous values from values.

Throws an invalid_argument exception if any keys to be inserted are already used.

insert() [5/6]

HybridValues & HybridValues::insert	(	Key	j,
		const Vector &	value )

Insert a vector value with key j.

Throws an invalid_argument exception if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

insert() [6/6]

HybridValues & HybridValues::insert	(	Key	j,
		size_t	value )

Insert a discrete value with key j.

Replaces the existing value if the key j is already used.

Parameters

value	The vector to be inserted.
j	The index with which the value will be associated.

insertNonlinear()

template<typename T>

HybridValues & gtsam::HybridValues::insertNonlinear ( Key j, const T & value )

inline

Insert a nonlinear value with key j.

Throws an invalid_argument exception if the key j is already used.

Template Parameters

T	The type of value to insert.

Parameters

j	The index with which the value will be associated.
value	The value to be inserted.

retract()

HybridValues HybridValues::retract

(

const VectorValues &

delta

)

const

Add a delta config to current config and returns a new config.

Parameters

delta

The delta to be added.

Note

This function applies the delta to the nonlinear values, while keeping the continuous and discrete values unchanged.

update() [1/4]

HybridValues & HybridValues::update

(

const DiscreteValues &

values

)

For all key/value pairs in values, replace discrete values with corresponding keys in this object with those in values.

Throws std::out_of_range if any keys in values are not present in this object.

update() [2/4]

HybridValues & HybridValues::update

(

const HybridValues &

values

)

For all key/value pairs in values, replace all values with corresponding keys in this object with those in values.

Throws std::out_of_range if any keys in values are not present in this object.

update() [3/4]

HybridValues & HybridValues::update

(

const Values &

values

)

For all key/value pairs in values, replace nonlinear values with corresponding keys in this object with those in values.

Throws std::out_of_range if any keys in values are not present in this object.

update() [4/4]

HybridValues & HybridValues::update

(

const VectorValues &

values

)

For all key/value pairs in values, replace continuous values with corresponding keys in this object with those in values.

Throws std::out_of_range if any keys in values are not present in this object.

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

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