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gtsam::SymbolicConditional Class Reference
Detailed Description
SymbolicConditional is a conditional with keys but no probability data, produced by symbolic elimination of SymbolicFactor.
It is also a SymbolicFactor, and thus derives from it. It derives also from Conditional<This>, which is a generic interface class for conditionals.
Inheritance diagram for gtsam::SymbolicConditional:
Standard Constructors | |
const_iterator to keys | |
| SymbolicConditional () | |
| Empty Constructor to make serialization possible. | |
| SymbolicConditional (Key j) | |
| No parents. | |
| SymbolicConditional (Key j, Key parent) | |
| Single parent. | |
| SymbolicConditional (Key j, Key parent1, Key parent2) | |
| Two parents. | |
| SymbolicConditional (Key j, Key parent1, Key parent2, Key parent3) | |
| Three parents. | |
| SymbolicFactor::shared_ptr | clone () const |
| Copy this object as its actual derived type. | |
| template<typename ITERATOR> | |
| static SymbolicConditional | FromIterators (ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals) |
| Named constructor from an arbitrary number of keys and frontals. | |
| template<typename ITERATOR> | |
| static SymbolicConditional::shared_ptr | FromIteratorsShared (ITERATOR firstKey, ITERATOR lastKey, size_t nrFrontals) |
| Named constructor from an arbitrary number of keys and frontals. | |
| template<class CONTAINER> | |
| static SymbolicConditional | FromKeys (const CONTAINER &keys, size_t nrFrontals) |
| Named constructor from an arbitrary number of keys and frontals. | |
| template<class CONTAINER> | |
| static SymbolicConditional::shared_ptr | FromKeysShared (const CONTAINER &keys, size_t nrFrontals) |
| Named constructor from an arbitrary number of keys and frontals. | |
Testable | |
| void | print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print with optional formatter. | |
| bool | equals (const This &c, double tol=1e-9) const |
| Check equality. | |
HybridValues methods. | |
| double | logProbability (const HybridValues &x) const override |
| logProbability throws exception, symbolic. | |
| double | evaluate (const HybridValues &x) const override |
| evaluate throws exception, symbolic. | |
| double | operator() (const HybridValues &x) const |
| Evaluate probability density, sugar. | |
| double | error (const HybridValues &c) const override |
| The error method throws an exception. | |
Public Types | |
| typedef SymbolicConditional | This |
| typedef SymbolicFactor | BaseFactor |
| Typedef to this class. | |
| typedef Conditional< BaseFactor, This > | BaseConditional |
| Typedef to the factor base class. | |
| typedef boost::shared_ptr< This > | shared_ptr |
| Typedef to the conditional base class. | |
| typedef BaseFactor::iterator | iterator |
| Boost shared_ptr to this class. | |
| typedef BaseFactor::const_iterator | const_iterator |
| iterator to keys | |
| Public Types inherited from gtsam::SymbolicFactor | |
| typedef SymbolicFactor | This |
| typedef Factor | Base |
| typedef SymbolicConditional | ConditionalType |
| typedef boost::shared_ptr< This > | shared_ptr |
| Overriding the shared_ptr typedef. | |
| Public Types inherited from gtsam::Factor | |
| typedef KeyVector::iterator | iterator |
| Iterator over keys. | |
| typedef KeyVector::const_iterator | const_iterator |
| Const iterator over keys. | |
| Public Types inherited from gtsam::Conditional< SymbolicFactor, SymbolicConditional > | |
| typedef boost::iterator_range< typename SymbolicFactor::const_iterator > | Frontals |
| View of the frontal keys (call frontals()). | |
| typedef boost::iterator_range< typename SymbolicFactor::const_iterator > | Parents |
| View of the separator keys (call parents()). | |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| SymbolicFactor () | |
| Default constructor for I/O. | |
| SymbolicFactor (Key j) | |
| Construct unary factor. | |
| SymbolicFactor (Key j1, Key j2) | |
| Construct binary factor. | |
| SymbolicFactor (Key j1, Key j2, Key j3) | |
| Construct ternary factor. | |
| SymbolicFactor (Key j1, Key j2, Key j3, Key j4) | |
| Construct 4-way factor. | |
| SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5) | |
| Construct 5-way factor. | |
| SymbolicFactor (Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) | |
| Construct 6-way factor. | |
| SymbolicFactor (const Factor &factor) | |
| Create symbolic version of any factor. | |
| SymbolicFactor::shared_ptr | clone () const |
| Copy this object as its actual derived type. | |
| bool | equals (const This &other, double tol=1e-9) const |
| void | print (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print | |
| void | printKeys (const std::string &s="SymbolicFactor", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print only keys | |
| double | error (const HybridValues &c) const override |
| The error method throws an exception. | |
| std::pair< boost::shared_ptr< SymbolicConditional >, boost::shared_ptr< SymbolicFactor > > | eliminate (const Ordering &keys) const |
Eliminate the variables in keys, in the order specified in keys, returning a conditional and marginal. | |
| 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 |
| 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 Member Functions inherited from gtsam::Conditional< SymbolicFactor, SymbolicConditional > | |
| void | print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print with optional formatter | |
| bool | equals (const This &c, double tol=1e-9) const |
| check equality | |
| size_t | nrFrontals () const |
| return the number of frontals | |
| size_t | nrParents () const |
| return the number of parents | |
| Key | firstFrontalKey () const |
| Convenience function to get the first frontal key. | |
| Frontals | frontals () const |
| return a view of the frontal keys | |
| Parents | parents () const |
| return a view of the parent keys | |
| double | operator() (const HybridValues &x) const |
| Evaluate probability density, sugar. | |
| virtual double | logNormalizationConstant () const |
| All conditional types need to implement a log normalization constant to make it such that error>=0. | |
| double | normalizationConstant () const |
| Non-virtual, exponentiate logNormalizationConstant. | |
| SymbolicFactor::const_iterator | beginFrontals () const |
| Iterator pointing to first frontal key. | |
| SymbolicFactor::const_iterator | endFrontals () const |
| Iterator pointing past the last frontal key. | |
| SymbolicFactor::const_iterator | beginParents () const |
| Iterator pointing to the first parent key. | |
| SymbolicFactor::const_iterator | endParents () const |
| Iterator pointing past the last parent key. | |
| template<typename KEYITERATOR> | |
| static SymbolicFactor | FromIterators (KEYITERATOR beginKey, KEYITERATOR endKey) |
| Constructor from a collection of keys. | |
| template<typename KEYITERATOR> | |
| static SymbolicFactor::shared_ptr | FromIteratorsShared (KEYITERATOR beginKey, KEYITERATOR endKey) |
| Constructor from a collection of keys. | |
| template<class CONTAINER> | |
| static SymbolicFactor | FromKeys (const CONTAINER &keys) |
| Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of. | |
| template<class CONTAINER> | |
| static SymbolicFactor::shared_ptr | FromKeysShared (const CONTAINER &keys) |
| Constructor from a collection of keys - compatible with boost assign::list_of and boost assign::cref_list_of. | |
| static bool | CheckInvariants (const SymbolicConditional &conditional, const VALUES &x) |
| Check invariants of this conditional, given the values x. | |
| 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. | |
| Protected Member Functions inherited from gtsam::Conditional< SymbolicFactor, SymbolicConditional > | |
| Conditional () | |
| Empty Constructor to make serialization possible. | |
| 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. | |
| Protected Attributes inherited from gtsam::Conditional< SymbolicFactor, SymbolicConditional > | |
| size_t | nrFrontals_ |
| The first nrFrontal variables are frontal and the rest are parents. | |
Member Function Documentation
◆ error()
|
overridevirtual |
The error method throws an exception.
Reimplemented from gtsam::Factor.
◆ evaluate()
|
overridevirtual |
evaluate throws exception, symbolic.
Reimplemented from gtsam::Conditional< SymbolicFactor, SymbolicConditional >.
◆ logProbability()
|
overridevirtual |
logProbability throws exception, symbolic.
Reimplemented from gtsam::Conditional< SymbolicFactor, SymbolicConditional >.
◆ print()
|
overridevirtual |
Print with optional formatter.
Reimplemented from gtsam::Factor.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/symbolic/SymbolicConditional.h
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/symbolic/SymbolicConditional.cpp
