Detailed Description

This class represents a collection of vector-valued variables associated each with a unique integer index.

It is typically used to store the variables of a GaussianFactorGraph. Optimizing a GaussianFactorGraph or GaussianBayesNet returns this class.

For basic usage, such as receiving a linear solution from gtsam solving functions, or creating this class in unit tests and examples where speed is not important, you can use a simple interface:

The default constructor VectorValues() to create this class
insert(Key, const Vector&) to add vector variables
operator[](Key) for read and write access to stored variables
exists (Key) to check if a variable is present
Other facilities like iterators, size(), dim(), etc.

Example:

VectorValues values;
values.emplace(3, Vector3(1.0, 2.0, 3.0));
values.emplace(4, Vector2(4.0, 5.0));
values.emplace(0, (Vector(4) << 6.0, 7.0, 8.0, 9.0).finished());
// Prints [ 3.0 4.0 ]
gtsam::print(values[1]);
// Prints [ 8.0 9.0 ]
values[1] = Vector2(8.0, 9.0);
gtsam::print(values[1]);

Advanced Interface and Performance Information

Access is through the variable Key j, and returns a SubVector, which is a view on the underlying data structure.

This class is additionally used in gradient descent and dog leg to store the gradient.

Standard Constructors
	VectorValues ()
	Default constructor creates an empty VectorValues.

	VectorValues (const VectorValues &first, const VectorValues &second)
	Merge two VectorValues into one, this is more efficient than inserting elements one by one. More...

template<class CONTAINER >
	VectorValues (const CONTAINER &c)
	Create from another container holding pair<Key,Vector>. More...

	VectorValues (const VectorValues &c)
	Implicit copy constructor to specialize the explicit constructor from any container. More...

template<typename ITERATOR >
	VectorValues (ITERATOR first, ITERATOR last)
	Create from a pair of iterators over pair<Key,Vector>. More...

	VectorValues (const Vector &c, const Dims &dims)
	Constructor from Vector, with Dims.

	VectorValues (const Vector &c, const Scatter &scatter)
	Constructor from Vector, with Scatter.

static VectorValues	Zero (const VectorValues &other)
	Create a VectorValues with the same structure as `other`, but filled with zeros. More...

Standard Interface
size_t	size () const
	Number of variables stored. More...

size_t	dim (Key j) const
	Return the dimension of variable `j`. More...

bool	exists (Key j) const
	Check whether a variable with key `j` exists. More...

Vector &	at (Key j)
	Read/write access to the vector value with key `j`, throws std::out_of_range if `j` does not exist, identical to operator[](Key).

const Vector &	at (Key j) const
	Access the vector value with key `j` (const version), throws std::out_of_range if `j` does not exist, identical to operator[](Key).

Vector &	operator[] (Key j)
	Read/write access to the vector value with key `j`, throws std::out_of_range if `j` does not exist, identical to at(Key). More...

const Vector &	operator[] (Key j) const
	Access the vector value with key `j` (const version), throws std::out_of_range if `j` does not exist, identical to at(Key). More...

void	update (const VectorValues &values)
	For all key/value pairs in `values`, replace values with corresponding keys in this class with those in `values`. More...

iterator	insert (const std::pair< Key, Vector > &key_value)
	Insert a vector `value` with key `j`. More...

iterator	emplace (Key j, const Vector &value)
	Emplace a vector `value` with key `j`. More...

iterator	insert (Key j, const Vector &value)
	Insert a vector `value` with key `j`. More...

void	insert (const VectorValues &values)
	Insert all values from `values`. More...

std::pair< iterator, bool >	tryInsert (Key j, const Vector &value)
	insert that mimics the STL map insert - if the value already exists, the map is not modified and an iterator to the existing value is returned, along with 'false'. More...

void	erase (Key var)
	Erase the vector with the given key, or throw std::out_of_range if it does not exist.

void	setZero ()
	Set all values to zero vectors. More...

iterator	begin ()
	Iterator over variables.

const_iterator	begin () const
	Iterator over variables.

iterator	end ()
	Iterator over variables.

const_iterator	end () const
	Iterator over variables.

iterator	find (Key j)
	Return the iterator corresponding to the requested key, or end() if no variable is present with this key.

const_iterator	find (Key j) const
	Return the iterator corresponding to the requested key, or end() if no variable is present with this key.

void	print (const std::string &str="VectorValues: ", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print required by Testable for unit testing

bool	equals (const VectorValues &x, double tol=1e-9) const
	equals required by Testable for unit testing

Advanced Interface
Vector	vector () const
	Retrieve the entire solution as a single vector.

template<typename CONTAINER >
Vector	vector (const CONTAINER &keys) const
	Access a vector that is a subset of relevant keys. More...

Vector	vector (const Dims &dims) const
	Access a vector that is a subset of relevant keys, dims version. More...

void	swap (VectorValues &other)
	Swap the data in this VectorValues with another. More...

bool	hasSameStructure (const VectorValues other) const
	Check if this VectorValues has the same structure (keys and dimensions) as another.

Linear algebra operations
GTSAM_EXPORT VectorValues	operator * (const double a, const VectorValues &v)
	Element-wise scaling by a constant. More...

double	dot (const VectorValues &v) const
	Dot product with another VectorValues, interpreting both as vectors of their concatenated values. More...

double	norm () const
	Vector L2 norm.

double	squaredNorm () const
	Squared vector L2 norm.

VectorValues	operator+ (const VectorValues &c) const
	Element-wise addition, synonym for add(). More...

VectorValues	add (const VectorValues &c) const
	Element-wise addition, synonym for operator+(). More...

VectorValues &	operator+= (const VectorValues &c)
	Element-wise addition in-place, synonym for operator+=(). More...

VectorValues &	addInPlace (const VectorValues &c)
	Element-wise addition in-place, synonym for operator+=(). More...

VectorValues &	addInPlace_ (const VectorValues &c)
	Element-wise addition in-place, but allows for empty slots in *this. More...

VectorValues	operator- (const VectorValues &c) const
	Element-wise subtraction, synonym for subtract(). More...

VectorValues	subtract (const VectorValues &c) const
	Element-wise subtraction, synonym for operator-(). More...

VectorValues	scale (const double a) const
	Element-wise scaling by a constant. More...

VectorValues &	operator *= (double alpha)
	Element-wise scaling by a constant in-place. More...

VectorValues &	scaleInPlace (double alpha)
	Element-wise scaling by a constant in-place. More...

Public Types
typedef Values::iterator	iterator
	Iterator over vector values.

typedef Values::const_iterator	const_iterator
	Const iterator over vector values.

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class

typedef Values::value_type	value_type
	Typedef to pair<Key, Vector>

typedef value_type	KeyValuePair
	Typedef to pair<Key, Vector>

typedef std::map< Key, size_t >	Dims
	Keyed vector dimensions.

Protected Types
typedef VectorValues	This

typedef ConcurrentMap< Key, Vector >	Values
	Collection of Vectors making up a VectorValues.

Protected Attributes
Values	values_
	Vectors making up this VectorValues.

Friends
class	boost::serialization::access
	Serialization function.

Constructor & Destructor Documentation

◆ VectorValues() [1/4]

gtsam::VectorValues::VectorValues	(	const VectorValues &	first,
		const VectorValues &	second
	)

Merge two VectorValues into one, this is more efficient than inserting elements one by one.

◆ VectorValues() [2/4]

template<class CONTAINER >

gtsam::VectorValues::VectorValues ( const CONTAINER & c )

inlineexplicit

Create from another container holding pair<Key,Vector>.

◆ VectorValues() [3/4]

gtsam::VectorValues::VectorValues ( const VectorValues & c )

inline

Implicit copy constructor to specialize the explicit constructor from any container.

◆ VectorValues() [4/4]

template<typename ITERATOR >

gtsam::VectorValues::VectorValues	(	ITERATOR	first,
		ITERATOR	last
	)

inline

Create from a pair of iterators over pair<Key,Vector>.

Member Function Documentation

◆ add()

VectorValues gtsam::VectorValues::add ( const VectorValues & c ) const

Element-wise addition, synonym for operator+().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ addInPlace()

VectorValues & gtsam::VectorValues::addInPlace ( const VectorValues & c )

Element-wise addition in-place, synonym for operator+=().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ addInPlace_()

VectorValues & gtsam::VectorValues::addInPlace_ ( const VectorValues & c )

Element-wise addition in-place, but allows for empty slots in *this.

Slower

◆ dim()

size_t gtsam::VectorValues::dim ( Key j ) const

inline

Return the dimension of variable j.

◆ dot()

double gtsam::VectorValues::dot ( const VectorValues & v ) const

Dot product with another VectorValues, interpreting both as vectors of their concatenated values.

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ emplace()

VectorValues::iterator gtsam::VectorValues::emplace	(	Key	j,
		const Vector &	value
	)

Emplace 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.

◆ exists()

bool gtsam::VectorValues::exists ( Key j ) const

inline

Check whether a variable with key j exists.

◆ insert() [1/3]

VectorValues::iterator gtsam::VectorValues::insert ( const std::pair< Key, Vector > & key_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() [2/3]

iterator gtsam::VectorValues::insert	(	Key	j,
		const Vector &	value
	)

inline

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() [3/3]

void gtsam::VectorValues::insert ( const VectorValues & values )

Insert all values from values.

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

◆ operator *=()

VectorValues & gtsam::VectorValues::operator *= ( double alpha )

Element-wise scaling by a constant in-place.

◆ operator+()

VectorValues gtsam::VectorValues::operator+ ( const VectorValues & c ) const

Element-wise addition, synonym for add().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator+=()

VectorValues & gtsam::VectorValues::operator+= ( const VectorValues & c )

Element-wise addition in-place, synonym for operator+=().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator-()

VectorValues gtsam::VectorValues::operator- ( const VectorValues & c ) const

Element-wise subtraction, synonym for subtract().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ operator[]() [1/2]

Vector& gtsam::VectorValues::operator[] ( Key j )

inline

Read/write access to the vector value with key j, throws std::out_of_range if j does not exist, identical to at(Key).

◆ operator[]() [2/2]

const Vector& gtsam::VectorValues::operator[] ( Key j ) const

inline

Access the vector value with key j (const version), throws std::out_of_range if j does not exist, identical to at(Key).

◆ scale()

VectorValues gtsam::VectorValues::scale ( const double a ) const

Element-wise scaling by a constant.

◆ scaleInPlace()

VectorValues & gtsam::VectorValues::scaleInPlace ( double alpha )

Element-wise scaling by a constant in-place.

◆ setZero()

void gtsam::VectorValues::setZero ( )

Set all values to zero vectors.

◆ size()

size_t gtsam::VectorValues::size ( ) const

inline

Number of variables stored.

◆ subtract()

VectorValues gtsam::VectorValues::subtract ( const VectorValues & c ) const

Element-wise subtraction, synonym for operator-().

Both VectorValues must have the same structure (checked when NDEBUG is not defined).

◆ swap()

void gtsam::VectorValues::swap ( VectorValues & other )

Swap the data in this VectorValues with another.

◆ tryInsert()

std::pair<iterator, bool> gtsam::VectorValues::tryInsert	(	Key	j,
		const Vector &	value
	)

inline

insert that mimics the STL map insert - if the value already exists, the map is not modified and an iterator to the existing value is returned, along with 'false'.

If the value did not exist, it is inserted and an iterator pointing to the new element, along with 'true', is returned.

◆ update()

void gtsam::VectorValues::update ( const VectorValues & values )

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

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

◆ vector() [1/2]

template<typename CONTAINER >

Vector gtsam::VectorValues::vector ( const CONTAINER & keys ) const

inline

Access a vector that is a subset of relevant keys.

◆ vector() [2/2]

Vector gtsam::VectorValues::vector ( const Dims & dims ) const

Access a vector that is a subset of relevant keys, dims version.

◆ Zero()

VectorValues gtsam::VectorValues::Zero ( const VectorValues & other )

static

Create a VectorValues with the same structure as other, but filled with zeros.

Friends And Related Function Documentation

◆ operator *

GTSAM_EXPORT VectorValues operator *	(	const double	a,
		const VectorValues &	v
	)

friend

Element-wise scaling by a constant.

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

/Users/dellaert/git/gtsam/gtsam/linear/VectorValues.h
/Users/dellaert/git/gtsam/gtsam/linear/VectorValues.cpp

Detailed Description

Advanced Interface and Performance Information

Standard Constructors

Standard Interface

Advanced Interface

Linear algebra operations

Public Types

Protected Types

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ VectorValues() [1/4]

◆ VectorValues() [2/4]

◆ VectorValues() [3/4]

◆ VectorValues() [4/4]

Member Function Documentation

◆ add()

◆ addInPlace()

◆ addInPlace_()

◆ dim()

◆ dot()

◆ emplace()

◆ exists()

◆ insert() [1/3]

◆ insert() [2/3]

◆ insert() [3/3]

◆ operator *=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ scale()

◆ scaleInPlace()

◆ setZero()

◆ size()

◆ subtract()

◆ swap()

◆ tryInsert()

◆ update()

◆ vector() [1/2]

◆ vector() [2/2]

◆ Zero()

Friends And Related Function Documentation

◆ operator *