gtsam 4.2.0
gtsam
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:

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. More...
 
 HybridFactor (const DiscreteKeys &discreteKeys)
 Construct hybrid factor from discrete keys. More...
 
 HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
 Construct a new Hybrid Factor object. More...
 
virtual ~HybridFactor ()=default
 Virtual destructor.
 
Testable
virtual bool equals (const HybridFactor &lf, double tol=1e-9) const
 equals More...
 
void print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print More...
 
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 DiscreteKeysdiscreteKeys () const
 Return the discrete keys for this factor.
 
const KeyVectorcontinuousKeys () 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 KeyVectorkeys () 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. More...
 
size_t size () const
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
KeyVectorkeys ()
 
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< HybridFactorshared_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

- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 Default constructor for I/O.
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 

Constructor & Destructor Documentation

◆ HybridFactor() [1/3]

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

Construct hybrid factor from continuous keys.

Parameters
keysVector of continuous keys.

◆ HybridFactor() [2/3]

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

Construct hybrid factor from discrete keys.

Parameters
keysVector of discrete keys.

◆ HybridFactor() [3/3]

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

Construct a new Hybrid Factor object.

Parameters
continuousKeysVector of keys for continuous variables.
discreteKeysVector of keys for discrete variables.

Member Function Documentation

◆ equals()

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

◆ 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.


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