gtsam::LabeledSymbol Class Reference

Detailed Description

Customized version of gtsam::Symbol for multi-robot use.

This variation of Symbol stores two char values in addition to an integer key, which is useful for encoding a group for a variable. This was originally designed for multi-robot systems, which allows expressing "Pose 7 from robot B" as "xB7".

Public Member Functions
	LabeledSymbol ()
	Default constructor.
	LabeledSymbol (const LabeledSymbol &key)
	Copy constructor.
	LabeledSymbol (unsigned char c, unsigned char label, std::uint64_t j)
	Constructor.
	LabeledSymbol (gtsam::Key key)
	Constructor that decodes an integer gtsam::Key.
	operator gtsam::Key () const
	Cast to integer.
void	print (const std::string &s="") const
bool	equals (const LabeledSymbol &expected, double tol=0.0) const
gtsam::Key	key () const
	return the integer version
unsigned char	label () const
	Retrieve label character.
unsigned char	chr () const
	Retrieve key character.
size_t	index () const
	Retrieve key index.
	operator std::string () const
	Create a string from the key.
bool	operator< (const LabeledSymbol &comp) const
	Comparison for use in maps.
bool	operator== (const LabeledSymbol &comp) const
bool	operator== (gtsam::Key comp) const
bool	operator!= (const LabeledSymbol &comp) const
bool	operator!= (gtsam::Key comp) const
LabeledSymbol	upper () const
LabeledSymbol	lower () const
LabeledSymbol	newChr (unsigned char c) const
LabeledSymbol	newLabel (unsigned char label) const

Static Public Member Functions
static std::function< bool(gtsam::Key)>	TypeTest (unsigned char c)
	Return a filter function that returns true when evaluated on a gtsam::Key whose character (when converted to a LabeledSymbol) matches c.
static std::function< bool(gtsam::Key)>	LabelTest (unsigned char label)
static std::function< bool(gtsam::Key)>	TypeLabelTest (unsigned char c, unsigned char label)

Protected Attributes
unsigned char	c_
unsigned char	label_
std::uint64_t	j_

Friends
class	boost::serialization::access
	Serialization function.
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const LabeledSymbol &symbol)
	Output stream operator that can be used with key_formatter (see Key.h).

Member Function Documentation

TypeTest()

std::function< bool(gtsam::Key)> gtsam::LabeledSymbol::TypeTest ( unsigned char c )

static

Return a filter function that returns true when evaluated on a gtsam::Key whose character (when converted to a LabeledSymbol) matches c.

Use this with the Values::filter() function to retrieve all key-value pairs with the requested character.

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/inference/LabeledSymbol.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/inference/LabeledSymbol.cpp