Detailed Description

Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor.

DecisionTreeFactor, which represent a discrete distribution over a set of variables.

Hybrid factors, such as

Inheritance diagram for gtsam::DiscreteFactor:

Wrapper support
using	Names = DiscreteValues::Names
	Translation table from values to strings.
virtual std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as markdown table.
virtual std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
	Render as html table.

Public Member Functions
Standard Constructors
	DiscreteFactor ()
	Default constructor creates empty factor.
template<typename CONTAINER>
	DiscreteFactor (const CONTAINER &keys)
	Construct from container of keys.
virtual	~DiscreteFactor ()
	Virtual destructor.
Testable
virtual bool	equals (const DiscreteFactor &lf, double tol=1e-9) const =0
	equals
void	print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Standard Interface
virtual double	operator() (const DiscreteValues &) const =0
	Find value for given assignment of values to variables.
double	error (const DiscreteValues &values) const
	Error is just -log(value).
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual DecisionTreeFactor	operator* (const DecisionTreeFactor &) const =0
	Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.
virtual DecisionTreeFactor	toDecisionTreeFactor () const =0
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const KeyVector &	keys () const
	Access the factor's involved variable keys.
const_iterator	begin () const
	Iterator at beginning of involved variable keys.
const_iterator	end () const
	Iterator at end of involved variable keys.
size_t	size () const
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef DiscreteFactor	This
	This class.
typedef boost::shared_ptr< DiscreteFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
using	Values = DiscreteValues
	backwards compatibility
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Additional Inherited Members
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ DiscreteFactor()

template<typename CONTAINER>

gtsam::DiscreteFactor::DiscreteFactor ( const CONTAINER & keys )

inline

Construct from container of keys.

This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

Member Function Documentation

◆ equals()

virtual bool gtsam::DiscreteFactor::equals	(	const DiscreteFactor &	lf,
		double	tol = 1e-9 ) const

pure virtual

equals

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::Domain, and gtsam::SingleValue.

◆ error()

double DiscreteFactor::error ( const HybridValues & c ) const

overridevirtual

All factor types need to implement an error function.

In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

◆ html()

virtual std::string gtsam::DiscreteFactor::html	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

pure virtual

Render as html table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a html string.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, and gtsam::DiscreteConditional.

◆ markdown()

virtual std::string gtsam::DiscreteFactor::markdown	(	const KeyFormatter &	keyFormatter = DefaultKeyFormatter,
		const Names &	names = {} ) const

pure virtual

Render as markdown table.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, category names corresponding to choices.

Returns: std::string a markdown string.

Implemented in gtsam::Constraint, gtsam::DecisionTreeFactor, and gtsam::DiscreteConditional.

◆ operator()()

virtual double gtsam::DiscreteFactor::operator() ( const DiscreteValues & ) const

pure virtual

Find value for given assignment of values to variables.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::Domain, and gtsam::SingleValue.

◆ operator*()

virtual DecisionTreeFactor gtsam::DiscreteFactor::operator* ( const DecisionTreeFactor & ) const

pure virtual

Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::Domain, and gtsam::SingleValue.

◆ print()

void gtsam::DiscreteFactor::print	(	const std::string &	s = "DiscreteFactor\n",
		const KeyFormatter &	formatter = DefaultKeyFormatter ) const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteLookupTable, gtsam::Domain, and gtsam::SingleValue.

◆ toDecisionTreeFactor()

virtual DecisionTreeFactor gtsam::DiscreteFactor::toDecisionTreeFactor ( ) const

pure virtual

Implemented in gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::DecisionTreeFactor, gtsam::Domain, and gtsam::SingleValue.

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

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DiscreteFactor.h
/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/discrete/DiscreteFactor.cpp

Detailed Description

Wrapper support

Public Member Functions

Public Types

Additional Inherited Members

Constructor & Destructor Documentation

◆ DiscreteFactor()

Member Function Documentation

◆ equals()

◆ error()

◆ html()

◆ markdown()

◆ operator()()

◆ operator*()

◆ print()

◆ toDecisionTreeFactor()