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| HybridGaussianFactorGraph ()=default |
| Default constructor.
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template<class DERIVEDFACTOR > |
| HybridGaussianFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph) |
| Implicit copy/downcast constructor to override explicit template container constructor. More...
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AlgebraicDecisionTree< Key > | error (const VectorValues &continuousValues) const |
| Compute error for each discrete assignment, and return as a tree. More...
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AlgebraicDecisionTree< Key > | probPrime (const VectorValues &continuousValues) const |
| Compute unnormalized probability \( P(X | M, Z) \) for each discrete assignment, and return as a tree. More...
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double | probPrime (const HybridValues &values) const |
| Compute the unnormalized posterior probability for a continuous vector values given a specific assignment. More...
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GaussianFactorGraphTree | assembleGraphTree () const |
| Create a decision tree of factor graphs out of this hybrid factor graph. More...
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| HybridFactorGraph ()=default |
| Default constructor.
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template<class DERIVEDFACTOR > |
| HybridFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph) |
| Implicit copy/downcast constructor to override explicit template container constructor. More...
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std::set< DiscreteKey > | discreteKeys () const |
| Get all the discrete keys in the factor graph.
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KeySet | discreteKeySet () const |
| Get all the discrete keys in the factor graph, as a set.
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std::unordered_map< Key, DiscreteKey > | discreteKeyMap () const |
| Get a map from Key to corresponding DiscreteKey.
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const KeySet | continuousKeySet () const |
| Get all the continuous keys in the factor graph.
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| FactorGraph (std::initializer_list< boost::shared_ptr< DERIVEDFACTOR > > sharedFactors) |
| Constructor that takes an initializer list of shared pointers. More...
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virtual | ~FactorGraph ()=default |
| Default destructor Public and virtual so boost serialization can call it.
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void | reserve (size_t size) |
| Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).
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IsDerived< DERIVEDFACTOR > | push_back (boost::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr.
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IsDerived< DERIVEDFACTOR > | push_back (const DERIVEDFACTOR &factor) |
| Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).
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IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type.
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IsDerived< DERIVEDFACTOR > | add (boost::shared_ptr< DERIVEDFACTOR > factor) |
| add is a synonym for push_back.
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std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type | operator+= (boost::shared_ptr< DERIVEDFACTOR > factor) |
| += works well with boost::assign list inserter.
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HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator over shared_ptr (factors are not copied)
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HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator (factors are copied)
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HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back many factors as shared_ptr's in a container (factors are not copied)
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HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back non-pointer objects in a container (factors are copied).
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void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc.
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boost::assign::list_inserter< CRefCallPushBack< This > > | operator+= (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc.
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std::enable_if< std::is_base_of< This, typenameCLIQUE::FactorGraphType >::value >::type | push_back (const BayesTree< CLIQUE > &bayesTree) |
| Push back a BayesTree as a collection of factors. More...
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FactorIndices | add_factors (const CONTAINER &factors, bool useEmptySlots=false) |
| Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
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virtual void | print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| Print out graph to std::cout, with optional key formatter. More...
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bool | equals (const This &fg, double tol=1e-9) const |
| Check equality up to tolerance.
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size_t | size () const |
| return the number of factors (including any null factors set by remove() ).
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bool | empty () const |
| Check if the graph is empty (null factors set by remove() will cause this to return false).
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const sharedFactor | at (size_t i) const |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
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sharedFactor & | at (size_t i) |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
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const sharedFactor | operator[] (size_t i) const |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
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sharedFactor & | operator[] (size_t i) |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
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const_iterator | begin () const |
| Iterator to beginning of factors.
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const_iterator | end () const |
| Iterator to end of factors.
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sharedFactor | front () const |
| Get the first factor.
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sharedFactor | back () const |
| Get the last factor.
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double | error (const HybridValues &values) const |
| Add error for all factors.
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iterator | begin () |
| non-const STL-style begin()
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iterator | end () |
| non-const STL-style end()
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virtual void | resize (size_t size) |
| Directly resize the number of factors in the graph. More...
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void | remove (size_t i) |
| delete factor without re-arranging indexes by inserting a nullptr pointer
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void | replace (size_t index, sharedFactor factor) |
| replace a factor by index
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iterator | erase (iterator item) |
| Erase factor and rearrange other factors to take up the empty space.
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iterator | erase (iterator first, iterator last) |
| Erase factors and rearrange other factors to take up the empty space.
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void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version.
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std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format string.
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void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format.
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size_t | nrFactors () const |
| return the number of non-null factors
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KeySet | keys () const |
| Potentially slow function to return all keys involved, sorted, as a set.
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KeyVector | keyVector () const |
| Potentially slow function to return all keys involved, sorted, as a vector.
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bool | exists (size_t idx) const |
| MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer.
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boost::shared_ptr< BayesNetType > | eliminateSequential (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do sequential elimination of all variables to produce a Bayes net. More...
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boost::shared_ptr< BayesNetType > | eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do sequential elimination of all variables to produce a Bayes net. More...
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boost::shared_ptr< BayesTreeType > | eliminateMultifrontal (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do multifrontal elimination of all variables to produce a Bayes tree. More...
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boost::shared_ptr< BayesTreeType > | eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do multifrontal elimination of all variables to produce a Bayes tree. More...
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std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do sequential elimination of some variables, in ordering provided, to produce a Bayes net and a remaining factor graph. More...
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std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do sequential elimination of the given variables in an ordering computed by COLAMD to produce a Bayes net and a remaining factor graph. More...
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std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do multifrontal elimination of some variables, in ordering provided, to produce a Bayes tree and a remaining factor graph. More...
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std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Do multifrontal elimination of the given variables in an ordering computed by COLAMD to produce a Bayes tree and a remaining factor graph. More...
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boost::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Compute the marginal of the requested variables and return the result as a Bayes net. More...
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boost::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Compute the marginal of the requested variables and return the result as a Bayes net. More...
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boost::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Compute the marginal of the requested variables and return the result as a Bayes tree. More...
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boost::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Compute the marginal of the requested variables and return the result as a Bayes tree. More...
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boost::shared_ptr< FactorGraphType > | marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const |
| Compute the marginal factor graph of the requested variables.
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