gtsam  4.1.0
gtsam
GaussianConditional.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 // \callgraph
19 
20 #pragma once
21 
22 #include <boost/utility.hpp>
23 
24 #include <gtsam/global_includes.h>
28 
29 namespace gtsam {
30 
36  class GTSAM_EXPORT GaussianConditional :
37  public JacobianFactor,
38  public Conditional<JacobianFactor, GaussianConditional>
39  {
40  public:
42  typedef boost::shared_ptr<This> shared_ptr;
45 
48 
50  GaussianConditional(Key key, const Vector& d, const Matrix& R,
51  const SharedDiagonal& sigmas = SharedDiagonal());
52 
54  GaussianConditional(Key key, const Vector& d, const Matrix& R,
55  Key name1, const Matrix& S, const SharedDiagonal& sigmas = SharedDiagonal());
56 
58  GaussianConditional(Key key, const Vector& d, const Matrix& R,
59  Key name1, const Matrix& S, Key name2, const Matrix& T,
60  const SharedDiagonal& sigmas = SharedDiagonal());
61 
65  template<typename TERMS>
66  GaussianConditional(const TERMS& terms,
67  size_t nrFrontals, const Vector& d,
68  const SharedDiagonal& sigmas = SharedDiagonal());
69 
74  template<typename KEYS>
76  const KEYS& keys, size_t nrFrontals, const VerticalBlockMatrix& augmentedMatrix,
77  const SharedDiagonal& sigmas = SharedDiagonal());
78 
86  template<typename ITERATOR>
87  static shared_ptr Combine(ITERATOR firstConditional, ITERATOR lastConditional);
88 
90  void print(const std::string& = "GaussianConditional",
91  const KeyFormatter& formatter = DefaultKeyFormatter) const override;
92 
94  bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;
95 
97  constABlock R() const { return Ab_.range(0, nrFrontals()); }
98 
100  constABlock S() const { return Ab_.range(nrFrontals(), size()); }
101 
103  constABlock S(const_iterator it) const { return BaseFactor::getA(it); }
104 
106  const constBVector d() const { return BaseFactor::getb(); }
107 
121  VectorValues solve(const VectorValues& parents) const;
122 
123  VectorValues solveOtherRHS(const VectorValues& parents, const VectorValues& rhs) const;
124 
126  void solveTransposeInPlace(VectorValues& gy) const;
127 
130  void scaleFrontalsBySigma(VectorValues& gy) const;
131 
132  // FIXME: deprecated flag doesn't appear to exist?
133  // __declspec(deprecated) void scaleFrontalsBySigma(VectorValues& gy) const;
134 
135  private:
137  friend class boost::serialization::access;
138  template<class Archive>
139  void serialize(Archive & ar, const unsigned int /*version*/) {
140  ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
141  ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
142  }
143  }; // GaussianConditional
144 
146 template<>
147 struct traits<GaussianConditional> : public Testable<GaussianConditional> {};
148 
149 } // \ namespace gtsam
150 
152 
gtsam::GaussianConditional::S
constABlock S() const
Get a view of the parent blocks.
Definition: GaussianConditional.h:100
JacobianFactor.h
gtsam::equals
Template to create a binary predicate.
Definition: Testable.h:110
gtsam::GaussianConditional::Combine
static shared_ptr Combine(ITERATOR firstConditional, ITERATOR lastConditional)
Combine several GaussianConditional into a single dense GC.
gtsam::GaussianConditional
A conditional Gaussian functions as the node in a Bayes network It has a set of parents y,...
Definition: GaussianConditional.h:39
gtsam::GaussianConditional::R
constABlock R() const
Return a view of the upper-triangular R block of the conditional.
Definition: GaussianConditional.h:97
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
gtsam::Conditional
TODO: Update comments.
Definition: Conditional.h:41
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:61
gtsam::GaussianFactor
An abstract virtual base class for JacobianFactor and HessianFactor.
Definition: GaussianFactor.h:39
gtsam::GaussianConditional::GaussianConditional
GaussianConditional()
default constructor needed for serialization
Definition: GaussianConditional.h:47
gtsam::GaussianConditional::BaseConditional
Conditional< BaseFactor, This > BaseConditional
Typedef to our conditional base class.
Definition: GaussianConditional.h:44
gtsam::VectorValues
This class represents a collection of vector-valued variables associated each with a unique integer i...
Definition: VectorValues.h:74
gtsam::serialize
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:100
VectorValues.h
Factor Graph Values.
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
global_includes.h
Included from all GTSAM files.
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:155
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:150
gtsam::GaussianConditional::This
GaussianConditional This
Typedef to this class.
Definition: GaussianConditional.h:41
gtsam::GaussianConditional::shared_ptr
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition: GaussianConditional.h:42
gtsam::GaussianConditional::d
const constBVector d() const
Get a view of the r.h.s.
Definition: GaussianConditional.h:106
gtsam::JacobianFactor
A Gaussian factor in the squared-error form.
Definition: JacobianFactor.h:91
gtsam::GaussianConditional::BaseFactor
JacobianFactor BaseFactor
Typedef to our factor base class.
Definition: GaussianConditional.h:43
gtsam::KeyFormatter
boost::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::Factor::const_iterator
KeyVector::const_iterator const_iterator
Const iterator over keys.
Definition: Factor.h:67
gtsam::GaussianConditional::S
constABlock S(const_iterator it) const
Get a view of the S matrix for the variable pointed to by the given key iterator.
Definition: GaussianConditional.h:103
GaussianConditional-inl.h
Conditional Gaussian Base class.
Conditional.h
Base class for conditional densities.
gtsam::VerticalBlockMatrix
Definition: VerticalBlockMatrix.h:42