Detailed Description

SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function.

for symbolic elimination etc.

Note that derived classes must also redefine the This and shared_ptr typedefs. See JacobianFactor, etc. for examples.

Inheritance diagram for gtsam::SymbolicFactor:

Standard Constructors
	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.

Testable
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

Standard Interface
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.

Advanced Constructors
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.

Public Types
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.

Additional Inherited Members
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.
	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.

Member Function Documentation

double gtsam::SymbolicFactor::error ( const HybridValues & c ) const

overridevirtual

The error method throws an exception.

Reimplemented from gtsam::Factor.

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

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

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

inlineoverridevirtual

print only keys

Reimplemented from gtsam::Factor.

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