gtsam::DiscreteFactorGraph Class Reference

Detailed Description

A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e.

Factor == DiscreteFactor

Inheritance diagram for gtsam::DiscreteFactorGraph:

Public Member Functions
	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.
DecisionTreeFactor	product () const
	return product of all factors as a single factor
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=boost::none) const
	Implement the sum-product algorithm.
DiscreteBayesNet	sumProduct (const Ordering &ordering) const
	Implement the sum-product algorithm.
DiscreteLookupDAG	maxProduct (OptionalOrderingType orderingType=boost::none) const
	Implement the max-product algorithm.
DiscreteValues	optimize (OptionalOrderingType orderingType=boost::none) 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.
Testable
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< boost::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 (boost::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 (boost::shared_ptr< DERIVEDFACTOR > factor)
	add is a synonym for push_back.
std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type	operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)
	+= works well with boost::assign list inserter.
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.
boost::assign::list_inserter< CRefCallPushBack< 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).
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 >
boost::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Do sequential elimination of all variables to produce a Bayes net.
boost::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Do multifrontal elimination of all variables to produce a Bayes tree.
std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Do sequential elimination of some variables, in ordering provided, to produce a Bayes net and a remaining factor graph.
std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Do multifrontal elimination of some variables, in ordering provided, to produce a Bayes tree and a remaining factor graph.
boost::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Compute the marginal of the requested variables and return the result as a Bayes net.
boost::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Compute the marginal of the requested variables and return the result as a Bayes tree.
boost::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
	Compute the marginal factor graph of the requested variables.

Public Types
using	This = DiscreteFactorGraph
	this class
using	Base = FactorGraph<DiscreteFactor>
	base factor graph type
using	BaseEliminateable
	for elimination
using	shared_ptr = boost::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 boost::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< boost::shared_ptr< ConditionalType >, boost::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 boost::optional< const VariableIndex & >	OptionalVariableIndex
	Typedef for an optional variable index as an argument to elimination functions.
typedef boost::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

Member Typedef Documentation

BaseEliminateable

using gtsam::DiscreteFactorGraph::BaseEliminateable

Initial value:

 
EliminateableFactorGraph<This>

for elimination

Constructor & Destructor Documentation

DiscreteFactorGraph()

gtsam::DiscreteFactorGraph::DiscreteFactorGraph ( )

inline

Default constructor.

map from keys to values

Member Function Documentation

html()

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

Render as html tables.

Parameters

keyFormatter	GTSAM-style Key formatter.
names	optional, a map from Key to category names.

Returns

std::string a (potentially long) html string.

maxProduct()

DiscreteLookupDAG gtsam::DiscreteFactorGraph::maxProduct

(

OptionalOrderingType

orderingType = boost::none

)

const

Implement the max-product algorithm.

Parameters

orderingType

: one of COLAMD, METIS, NATURAL, CUSTOM

Returns

DiscreteLookupDAG DAG with lookup tables

optimize() [1/2]

DiscreteValues gtsam::DiscreteFactorGraph::optimize

(

const Ordering &

ordering

)

const

Find the maximum probable explanation (MPE) by doing max-product.

Parameters

ordering

Returns

DiscreteValues : MPE

optimize() [2/2]

DiscreteValues gtsam::DiscreteFactorGraph::optimize

(

OptionalOrderingType

orderingType = boost::none

)

const

Implement the max-product algorithm.

Parameters

ordering

Returns

DiscreteLookupDAG `DAG with lookup tables */ DiscreteLookupDAG maxProduct(const Ordering& ordering) const;

/**

Find the maximum probable explanation (MPE) by doing max-product.

Parameters

orderingType

Returns

DiscreteValues : MPE

print()

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

overridevirtual

print

Reimplemented from gtsam::FactorGraph< DiscreteFactor >.

Reimplemented in gtsam::Scheduler.

sumProduct() [1/2]

DiscreteBayesNet gtsam::DiscreteFactorGraph::sumProduct

(

const Ordering &

ordering

)

const

Implement the sum-product algorithm.

Parameters

ordering

Returns

DiscreteBayesNet encoding posterior P(X|Z)

sumProduct() [2/2]

DiscreteBayesNet gtsam::DiscreteFactorGraph::sumProduct

(

OptionalOrderingType

orderingType = boost::none

)

const

Implement the sum-product algorithm.

Parameters

orderingType

: one of COLAMD, METIS, NATURAL, CUSTOM

Returns

DiscreteBayesNet encoding posterior P(X|Z)

---

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

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