gtsam::HybridFactor Class Reference

Detailed Description

Base class for truly hybrid probabilistic factors.

a mixture of Gaussian and discrete distributions over a set of variables.

Examples:

• MixtureFactor
• GaussianMixtureFactor
• GaussianMixture

Symbolic factors, used to represent a graph structure, such as

Inheritance diagram for gtsam::HybridFactor:

Public Member Functions
Standard Constructors
	HybridFactor ()=default
	Default constructor creates empty factor.
	HybridFactor (const KeyVector &keys)
	Construct hybrid factor from continuous keys.
	HybridFactor (const DiscreteKeys &discreteKeys)
	Construct hybrid factor from discrete keys.
	HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
	Construct a new Hybrid Factor object.
virtual	~HybridFactor ()=default
	Virtual destructor.
Testable
virtual bool	equals (const HybridFactor &lf, double tol=1e-9) const
	equals
void	print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print
Standard Interface
bool	isDiscrete () const
	True if this is a factor of discrete variables only.
bool	isContinuous () const
	True if this is a factor of continuous variables only.
bool	isHybrid () const
	True is this is a Discrete-Continuous factor.
size_t	nrContinuous () const
	Return the number of continuous variables in this factor.
const DiscreteKeys &	discreteKeys () const
	Return the discrete keys for this factor.
const KeyVector &	continuousKeys () const
	Return only the continuous keys for this factor.
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.
virtual double	error (const HybridValues &c) const
	All factor types need to implement an error function.
size_t	size () const
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
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 Types
typedef HybridFactor	This
	This class.
typedef boost::shared_ptr< HybridFactor >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
DiscreteKeys	discreteKeys_
KeyVector	continuousKeys_
	Record continuous keys for book-keeping.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

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

Additional Inherited Members
	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.

Constructor & Destructor Documentation

HybridFactor() [1/3]

gtsam::HybridFactor::HybridFactor ( const KeyVector & keys )

explicit

Construct hybrid factor from continuous keys.

Parameters

keys	Vector of continuous keys.

HybridFactor() [2/3]

gtsam::HybridFactor::HybridFactor ( const DiscreteKeys & discreteKeys )

explicit

Construct hybrid factor from discrete keys.

Parameters

keys	Vector of discrete keys.

HybridFactor() [3/3]

gtsam::HybridFactor::HybridFactor	(	const KeyVector &	continuousKeys,
		const DiscreteKeys &	discreteKeys )

Construct a new Hybrid Factor object.

Parameters

continuousKeys	Vector of keys for continuous variables.
discreteKeys	Vector of keys for discrete variables.

Member Function Documentation

equals()

bool gtsam::HybridFactor::equals ( const HybridFactor & lf, double tol = 1e-9 ) const

virtual

equals

Reimplemented in gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::HybridConditional, and gtsam::MixtureFactor.

print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::MixtureFactor.

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

• /build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridFactor.h
• /build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridFactor.cpp