gtsam::Values Class Reference

Detailed Description

A non-templated config holding any types of Manifold-group elements.

A values structure is a map from keys to values. It is used to specify the value of a bunch of variables in a factor graph. A Values is a values structure which can hold variables that are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.

Public Member Functions
	Values ()
	Default constructor creates an empty Values class.
	Values (const Values &other)
	Copy constructor duplicates all keys and values.
	Values (Values &&other)
	Move constructor.
	Values (std::initializer_list< ConstKeyValuePair > init)
	Constructor from initializer list. More...
	Values (const Values &other, const VectorValues &delta)
	Construct from a Values and an update vector: identical to other.retract(delta)
template<class ValueType >
	Values (const Filtered< ValueType > &view)
	Constructor from a Filtered view copies out all values.
template<class ValueType >
	Values (const ConstFiltered< ValueType > &view)
	Constructor from a Filtered or ConstFiltered view.
template<typename ValueType >
const ValueType	at (Key j) const
	Retrieve a variable by key j. More...
double	atDouble (size_t key) const
	version for double
const Value &	at (Key j) const
	Retrieve a variable by key j. More...
bool	exists (Key j) const
	Check if a value exists with key j. More...
template<typename ValueType >
boost::optional< const ValueType & >	exists (Key j) const
	Check if a value with key j exists, returns the value with type Value if the key does exist, or boost::none if it does not exist. More...
iterator	find (Key j)
	Find an element by key, returning an iterator, or end() if the key was not found.
const_iterator	find (Key j) const
	Find an element by key, returning an iterator, or end() if the key was not found.
iterator	lower_bound (Key j)
	Find the element greater than or equal to the specified key.
const_iterator	lower_bound (Key j) const
	Find the element greater than or equal to the specified key.
iterator	upper_bound (Key j)
	Find the lowest-ordered element greater than the specified key.
const_iterator	upper_bound (Key j) const
	Find the lowest-ordered element greater than the specified key.
size_t	size () const
	The number of variables in this config.
bool	empty () const
	whether the config is empty
const_iterator	begin () const
const_iterator	end () const
iterator	begin ()
iterator	end ()
const_reverse_iterator	rbegin () const
const_reverse_iterator	rend () const
reverse_iterator	rbegin ()
reverse_iterator	rend ()
void	insert (Key j, const Value &val)
	Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present.
void	insert (const Values &values)
	Add a set of variables, throws KeyAlreadyExists<J> if a key is already present.
template<typename ValueType >
void	insert (Key j, const ValueType &val)
	Templated version to add a variable with the given j, throws KeyAlreadyExists<J> if j is already present.
void	insertDouble (Key j, double c)
	version for double
std::pair< iterator, bool >	tryInsert (Key j, const Value &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	update (Key j, const Value &val)
	single element change of existing element
template<typename T >
void	update (Key j, const T &val)
	Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present. More...
void	update (const Values &values)
	update the current available values without adding new ones
void	erase (Key j)
	Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present.
KeyVector	keys () const
	Returns a set of keys in the config Note: by construction, the list is ordered.
Values &	operator= (const Values &rhs)
	Replace all keys and variables.
void	swap (Values &other)
	Swap the contents of two Values without copying data.
void	clear ()
	Remove all variables from the config.
size_t	dim () const
	Compute the total dimensionality of all values ( \( O(n) \))
VectorValues	zeroVectors () const
	Return a VectorValues of zero vectors for each variable in this Values.
Filtered< Value >	filter (const std::function< bool(Key)> &filterFcn)
	Return a filtered view of this Values class, without copying any data. More...
template<class ValueType >
Filtered< ValueType >	filter (const std::function< bool(Key)> &filterFcn=&_truePredicate< Key >)
	Return a filtered view of this Values class, without copying any data. More...
ConstFiltered< Value >	filter (const std::function< bool(Key)> &filterFcn) const
	Return a filtered view of this Values class, without copying any data. More...
template<class ValueType >
ConstFiltered< ValueType >	filter (const std::function< bool(Key)> &filterFcn=&_truePredicate< Key >) const
	Return a filtered view of this Values class, without copying any data. More...
template<class ValueType >
size_t	count () const
template<typename ValueType >
void	update (Key j, const ValueType &val)
Testable
void	print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print method for testing and debugging
bool	equals (const Values &other, double tol=1e-9) const
	Test whether the sets of keys and values are identical.
Manifold Operations
Values	retract (const VectorValues &delta) const
	Add a delta config to current config and returns a new config.
VectorValues	localCoordinates (const Values &cp) const
	Get a delta config about a linearization point c0 (*this)

Public Types
typedef boost::shared_ptr< Values >	shared_ptr
	A shared_ptr to this class.
typedef boost::shared_ptr< const Values >	const_shared_ptr
	A const shared_ptr to this class.
typedef boost::transform_iterator< std::function< KeyValuePair(const KeyValuePtrPair &)>, KeyValueMap::iterator >	iterator
	Mutable forward iterator, with value type KeyValuePair.
typedef boost::transform_iterator< std::function< ConstKeyValuePair(const ConstKeyValuePtrPair &)>, KeyValueMap::const_iterator >	const_iterator
	Const forward iterator, with value type ConstKeyValuePair.
typedef boost::transform_iterator< std::function< KeyValuePair(const KeyValuePtrPair &)>, KeyValueMap::reverse_iterator >	reverse_iterator
	Mutable reverse iterator, with value type KeyValuePair.
typedef boost::transform_iterator< std::function< ConstKeyValuePair(const ConstKeyValuePtrPair &)>, KeyValueMap::const_reverse_iterator >	const_reverse_iterator
	Const reverse iterator, with value type ConstKeyValuePair.
typedef KeyValuePair	value_type

Classes
class	ConstFiltered
	A filtered view of a const Values, returned from Values::filter. More...
struct	ConstKeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...
class	Filtered
	A filtered view of a Values, returned from Values::filter. More...
struct	KeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

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

Constructor & Destructor Documentation

Values()

gtsam::Values::Values

(

std::initializer_list< ConstKeyValuePair >

init

)

Constructor from initializer list.

Example usage:

Values v = {{k1, genericValue(pose1)}, {k2, genericValue(point2)}};

Member Function Documentation

at() [1/2]

template<typename ValueType >

const ValueType gtsam::Values::at

(

Key

j

)

const

Retrieve a variable by key j.

The type of the value associated with this key is supplied as a template argument to this function.

Parameters

j	Retrieve the value associated with this key

Template Parameters

ValueType

The type of the value stored with this key, this method Throws DynamicValuesIncorrectType if this requested type is not correct. Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa.

Returns

The stored value

at() [2/2]

const Value & gtsam::Values::at

(

Key

j

)

const

Retrieve a variable by key j.

This version returns a reference to the base Value class, and needs to be casted before use.

Parameters

j	Retrieve the value associated with this key

Returns

A const reference to the stored value

exists() [1/2]

bool gtsam::Values::exists

(

Key

j

)

const

Check if a value exists with key j.

See exists<>(Key j) and exists(const TypedKey& j) for versions that return the value if it exists.

exists() [2/2]

template<typename ValueType >

boost::optional< const ValueType & > gtsam::Values::exists

(

Key

j

)

const

Check if a value with key j exists, returns the value with type Value if the key does exist, or boost::none if it does not exist.

Throws DynamicValuesIncorrectType if the value type associated with the requested key does not match the stored value type.

filter() [1/4]

Values::Filtered< Value > gtsam::Values::filter ( const std::function< bool(Key)> &  filterFcn )

inline

Return a filtered view of this Values class, without copying any data.

When iterating over the filtered view, only the key-value pairs with a key causing filterFcn to return true are visited. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Parameters

filterFcn

The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns

A filtered view of the original Values class, which references the original Values class.

filter() [2/4]

Values::ConstFiltered< Value > gtsam::Values::filter ( const std::function< bool(Key)> &  filterFcn ) const

inline

Return a filtered view of this Values class, without copying any data.

When iterating over the filtered view, only the key-value pairs with a key causing filterFcn to return true are visited. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Parameters

filterFcn

The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns

A filtered view of the original Values class, which references the original Values class.

filter() [3/4]

template<class ValueType >

Values::Filtered< ValueType > gtsam::Values::filter

(

const std::function< bool(Key)> &

filterFcn = &_truePredicate<Key>

)

Return a filtered view of this Values class, without copying any data.

In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Template Parameters

ValueType

The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn

The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys (default: always return true so that filter() only filters by type, matching ValueType).

Returns

A filtered view of the original Values class, which references the original Values class.

filter() [4/4]

template<class ValueType >

Values::ConstFiltered< ValueType > gtsam::Values::filter

(

const std::function< bool(Key)> &

filterFcn = &_truePredicate<Key>

)

const

Return a filtered view of this Values class, without copying any data.

In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Template Parameters

ValueType

The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn

The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns

A filtered view of the original Values class, which references the original Values class.

tryInsert()

std::pair< Values::iterator, bool > gtsam::Values::tryInsert	(	Key	j,
		const Value &	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'.

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

update()

template<typename T >

void gtsam::Values::update	(	Key	j,
		const T &	val
	)

Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present.

If no chart is specified, the DefaultChart<ValueType> is used.

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

• /Users/dellaert/git/github/gtsam/nonlinear/Values.h
• /Users/dellaert/git/github/gtsam/nonlinear/Values-inl.h
• /Users/dellaert/git/github/gtsam/nonlinear/Values.cpp