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gtsam::CSP Class Reference
Detailed Description
Constraint Satisfaction Problem class A specialization of a DiscreteFactorGraph.
It knows about CSP-specific constraints and algorithms
Inheritance diagram for gtsam::CSP:
Public Member Functions | |
| void | addSingleValue (const DiscreteKey &dkey, size_t value) |
| Add a unary constraint, allowing only a single value. | |
| void | addAllDiff (const DiscreteKey &key1, const DiscreteKey &key2) |
| Add a binary AllDiff constraint. | |
| void | addAllDiff (const DiscreteKeys &dkeys) |
| Add a general AllDiff constraint. | |
| Domains | runArcConsistency (size_t cardinality, size_t maxIterations=10) const |
| return product of all factors as a single factor | |
| bool | runArcConsistency (const VariableIndex &index, Domains *domains) const |
| Run arc consistency for all variables, return true if any domain changed. | |
| CSP | partiallyApply (const Domains &domains) const |
| Public Member Functions inherited from gtsam::DiscreteFactorGraph | |
| DiscreteFactorGraph () | |
| Default constructor. | |
| template<typename ITERATOR> | |
| DiscreteFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor) | |
| Construct from iterator over factors. | |
| template<class CONTAINER> | |
| DiscreteFactorGraph (const CONTAINER &factors) | |
| Construct from container of factors (shared_ptr or plain objects). | |
| template<class DERIVED_FACTOR> | |
| DiscreteFactorGraph (const FactorGraph< DERIVED_FACTOR > &graph) | |
| Implicit copy/downcast constructor to override explicit template container constructor. | |
| virtual | ~DiscreteFactorGraph () |
| Destructor. | |
| template<typename... Args> | |
| void | add (Args &&... args) |
| Add a decision-tree factor. | |
| KeySet | keys () const |
| Return the set of variables involved in the factors (set union). | |
| DiscreteKeys | discreteKeys () const |
| Return the DiscreteKeys in this factor graph. | |
| DiscreteFactor::shared_ptr | product () const |
| return product of all factors as a single factor | |
| DiscreteFactor::shared_ptr | scaledProduct () const |
| Return product of all factors as a single factor, which is scaled by the max value to prevent underflow. | |
| double | operator() (const DiscreteValues &values) const |
| Evaluates the factor graph given values, returns the joint probability of the factor graph given specific instantiation of values. | |
| void | print (const std::string &s="DiscreteFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print | |
| DiscreteBayesNet | sumProduct (OptionalOrderingType orderingType={}) const |
| Implement the sum-product algorithm. | |
| DiscreteBayesNet | sumProduct (const Ordering &ordering) const |
| Implement the sum-product algorithm. | |
| DiscreteLookupDAG | maxProduct (OptionalOrderingType orderingType={}) const |
| Implement the max-product algorithm. | |
| DiscreteValues | optimize (OptionalOrderingType orderingType={}) const |
| Implement the max-product algorithm. | |
| DiscreteValues | optimize (const Ordering &ordering) const |
| Find the maximum probable explanation (MPE) by doing max-product. | |
| *name Wrapper support *std::string | html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const |
| Render as html tables. | |
| bool | equals (const This &fg, double tol=1e-9) const |
| Public Member Functions inherited from gtsam::FactorGraph< DiscreteFactor > | |
| virtual | ~FactorGraph ()=default |
| Default destructor Public and virtual so boost serialization can call it. | |
| FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR > > sharedFactors) | |
| Constructor that takes an initializer list of shared pointers. | |
| void | reserve (size_t size) |
| Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve). | |
| IsDerived< DERIVEDFACTOR > | push_back (std::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr. | |
| IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type. | |
| IsDerived< DERIVEDFACTOR > | push_back (const DERIVEDFACTOR &factor) |
| Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy). | |
| IsDerived< DERIVEDFACTOR > | add (std::shared_ptr< DERIVEDFACTOR > factor) |
| add is a synonym for push_back. | |
| std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type & | operator+= (std::shared_ptr< DERIVEDFACTOR > factor) |
| Append factor to factor graph. | |
| std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type & | operator, (std::shared_ptr< DERIVEDFACTOR > factor) |
| Overload comma operator to allow for append chaining. | |
| HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator over shared_ptr (factors are not copied). | |
| HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator (factors are copied). | |
| HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back many factors as shared_ptr's in a container (factors are not copied). | |
| HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back non-pointer objects in a container (factors are copied). | |
| void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc. | |
| This & | operator+= (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc. | |
| std::enable_if< std::is_base_of< This, typenameCLIQUE::FactorGraphType >::value >::type | push_back (const BayesTree< CLIQUE > &bayesTree) |
| Push back a BayesTree as a collection of factors. | |
| FactorIndices | add_factors (const CONTAINER &factors, bool useEmptySlots=false) |
| Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots. | |
| bool | equals (const This &fg, double tol=1e-9) const |
| Check equality up to tolerance. | |
| size_t | size () const |
| return the number of factors (including any null factors set by remove() ). | |
| bool | empty () const |
| Check if the graph is empty (null factors set by remove() will cause this to return false). | |
| const sharedFactor | at (size_t i) const |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not). | |
| sharedFactor & | at (size_t i) |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not). | |
| std::shared_ptr< F > | at (size_t i) |
| Get a specific factor by index and typecast to factor type F (this checks array bounds and may throw an exception, as opposed to operator[] which does not). | |
| const std::shared_ptr< F > | at (size_t i) const |
| Const version of templated at method. | |
| const sharedFactor | operator[] (size_t i) const |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does). | |
| sharedFactor & | operator[] (size_t i) |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does). | |
| const_iterator | begin () const |
| Iterator to beginning of factors. | |
| const_iterator | end () const |
| Iterator to end of factors. | |
| sharedFactor | front () const |
| Get the first factor. | |
| sharedFactor | back () const |
| Get the last factor. | |
| double | error (const HybridValues &values) const |
| Add error for all factors. | |
| iterator | begin () |
| non-const STL-style begin() | |
| iterator | end () |
| non-const STL-style end() | |
| virtual void | resize (size_t size) |
| Directly resize the number of factors in the graph. | |
| void | remove (size_t i) |
| delete factor without re-arranging indexes by inserting a nullptr pointer | |
| void | replace (size_t index, sharedFactor factor) |
| replace a factor by index | |
| iterator | erase (iterator item) |
| Erase factor and rearrange other factors to take up the empty space. | |
| iterator | erase (iterator first, iterator last) |
| Erase factors and rearrange other factors to take up the empty space. | |
| void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version. | |
| std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format string. | |
| void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format. | |
| size_t | nrFactors () const |
| return the number of non-null factors | |
| KeySet | keys () const |
| Potentially slow function to return all keys involved, sorted, as a set. | |
| KeyVector | keyVector () const |
| Potentially slow function to return all keys involved, sorted, as a vector. | |
| bool | exists (size_t idx) const |
| MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer. | |
| Public Member Functions inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph > | |
| IndexedJunctionTree | buildIndexedJunctionTree (const Ordering &ordering, const std::unordered_set< Key > &fixedKeys={}) const |
| Build an IndexedJunctionTree for this factor graph and a fixed ordering. | |
| std::shared_ptr< BayesNetType > | eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
| Do sequential elimination of all variables to produce a Bayes net. | |
| std::shared_ptr< BayesTreeType > | eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
| Do multifrontal elimination of all variables to produce a Bayes tree. | |
| std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
Do sequential elimination of some variables, in ordering provided, to produce a Bayes net and a remaining factor graph. | |
| std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
Do multifrontal elimination of some variables, in ordering provided, to produce a Bayes tree and a remaining factor graph. | |
| std::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
| Compute the marginal of the requested variables and return the result as a Bayes net. | |
| std::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
| Compute the marginal of the requested variables and return the result as a Bayes tree. | |
| std::shared_ptr< FactorGraphType > | marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
| Compute the marginal factor graph of the requested variables. | |
Public Types | |
| using | Values = DiscreteValues |
| backwards compatibility | |
| Public Types inherited from gtsam::DiscreteFactorGraph | |
| using | This = DiscreteFactorGraph |
| this class | |
| using | Base = FactorGraph<DiscreteFactor> |
| base factor graph type | |
| using | BaseEliminateable |
| for elimination | |
| using | shared_ptr = std::shared_ptr<This> |
| shared_ptr to This | |
| using | Values = DiscreteValues |
| backwards compatibility | |
| using | Indices = KeyVector |
| Public Types inherited from gtsam::FactorGraph< DiscreteFactor > | |
| typedef DiscreteFactor | FactorType |
| factor type | |
| typedef std::shared_ptr< DiscreteFactor > | sharedFactor |
| Shared pointer to a factor. | |
| typedef sharedFactor | value_type |
| typedef FastVector< sharedFactor >::iterator | iterator |
| typedef FastVector< sharedFactor >::const_iterator | const_iterator |
| Public Types inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph > | |
| typedef EliminationTraits< FactorGraphType > | EliminationTraitsType |
| Typedef to the specific EliminationTraits for this graph. | |
| typedef EliminationTraitsType::ConditionalType | ConditionalType |
| Conditional type stored in the Bayes net produced by elimination. | |
| typedef EliminationTraitsType::BayesNetType | BayesNetType |
| Bayes net type produced by sequential elimination. | |
| typedef EliminationTraitsType::EliminationTreeType | EliminationTreeType |
| Elimination tree type that can do sequential elimination of this graph. | |
| typedef EliminationTraitsType::BayesTreeType | BayesTreeType |
| Bayes tree type produced by multifrontal elimination. | |
| typedef EliminationTraitsType::JunctionTreeType | JunctionTreeType |
| Junction tree type that can do multifrontal elimination of this graph. | |
| typedef std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< _FactorType > > | EliminationResult |
| The pair of conditional and remaining factor produced by a single dense elimination step on a subgraph. | |
| typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)> | Eliminate |
| The function type that does a single dense elimination step on a subgraph. | |
| typedef std::optional< std::reference_wrapper< const VariableIndex > > | OptionalVariableIndex |
| Typedef for an optional variable index as an argument to elimination functions It is an optional to a constant reference. | |
| typedef std::optional< Ordering::OrderingType > | OptionalOrderingType |
| Typedef for an optional ordering type. | |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::FactorGraph< DiscreteFactor > | |
| bool | isEqual (const FactorGraph &other) const |
| Check exact equality of the factor pointers. Useful for derived ==. | |
| FactorGraph () | |
| Default constructor. | |
| FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor) | |
| Constructor from iterator over factors (shared_ptr or plain objects). | |
| FactorGraph (const CONTAINER &factors) | |
| Construct from container of factors (shared_ptr or plain objects). | |
| Protected Attributes inherited from gtsam::FactorGraph< DiscreteFactor > | |
| FastVector< sharedFactor > | factors_ |
| concept check, makes sure FACTOR defines print and equals | |
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam_unstable/discrete/CSP.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam_unstable/discrete/CSP.cpp
