gtsam::LabeledSymbol Class Reference

Detailed Description

Customized version of gtsam::Symbol for multi-robot use.

This variation of Symbol stores two char values in addition to an integer key, which is useful for encoding a group for a variable. This was originally designed for multi-robot systems, which allows expressing "Pose 7 from robot B" as "xB7".

Standard API
	operator Key () const
	Cast to Key.
Key	key () const
	return the integer version
unsigned char	label () const
	Retrieve label character.
unsigned char	chr () const
	Retrieve key character.
std::uint64_t	index () const
	Retrieve key index.
	operator std::string () const
	Create a string from the key.
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const LabeledSymbol &symbol)
	Output stream operator that can be used with key_formatter (see Key.h).

Public Member Functions
Constructors
	LabeledSymbol ()
	Default constructor.
	LabeledSymbol (const LabeledSymbol &key)
	Copy constructor.
	LabeledSymbol (unsigned char c, unsigned char label, std::uint64_t j)
	Constructor fro characters c and label, and integer j.
	LabeledSymbol (Key key)
	Constructor that decodes an integer Key.
Testable
void	print (const std::string &s="") const
	Prints the LabeledSymbol with an optional prefix string.
bool	equals (const LabeledSymbol &expected, double tol=0.0) const
	Checks if this LabeledSymbol is equal to another, tolerance is ignored.
Comparison
bool	operator< (const LabeledSymbol &comp) const
bool	operator== (const LabeledSymbol &comp) const
bool	operator== (Key comp) const
bool	operator!= (const LabeledSymbol &comp) const
bool	operator!= (Key comp) const
Advanced API
LabeledSymbol	upper () const
	Converts to upper/lower versions of labels.
LabeledSymbol	lower () const
LabeledSymbol	newChr (unsigned char c) const
	Create a new symbol with a different character.
LabeledSymbol	newLabel (unsigned char label) const
	Create a new symbol with a different label.

Static Public Member Functions
Filtering
Return a filter function that returns true when evaluated on a Key whose character (when converted to a LabeledSymbol) matches c. Use this with the Values::filter() function to retrieve all key-value pairs with the requested character.
static std::function< bool(Key)>	TypeTest (unsigned char c)
	Checks only the type.
static std::function< bool(Key)>	LabelTest (unsigned char label)
	Checks only the robot ID (label_).
static std::function< bool(Key)>	TypeLabelTest (unsigned char c, unsigned char label)
	Checks both type and the robot ID.

Protected Attributes
unsigned char	c_
unsigned char	label_
std::uint64_t	j_

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/inference/LabeledSymbol.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/inference/LabeledSymbol.cpp