gtsam 4.2.0
gtsam
|
A non-templated config holding any types of Manifold-group elements.
A values structure is a map from keys to values. It is used to specify the value of a bunch of variables in a factor graph. A Values is a values structure which can hold variables that are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.
Public Member Functions | |
void | insert (Key j, const Value &val) |
Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present. | |
void | insert (const Values &values) |
Add a set of variables, throws KeyAlreadyExists<J> if a key is already present. | |
template<typename ValueType > | |
void | insert (Key j, const ValueType &val) |
Templated version to add a variable with the given j, throws KeyAlreadyExists<J> if j is already present. | |
void | insertDouble (Key j, double c) |
version for double | |
void | update (Key j, const Value &val) |
single element change of existing element | |
template<typename T > | |
void | update (Key j, const T &val) |
Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present. More... | |
void | update (const Values &values) |
update the current available values without adding new ones | |
void | insert_or_assign (Key j, const Value &val) |
If key j exists, update value, else perform an insert. | |
void | insert_or_assign (const Values &values) |
Update a set of variables. More... | |
template<typename ValueType > | |
void | insert_or_assign (Key j, const ValueType &val) |
Templated version to insert_or_assign a variable with the given j. | |
void | erase (Key j) |
Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present. | |
KeyVector | keys () const |
Returns a vector of keys in the config. More... | |
KeySet | keySet () const |
Returns a set of keys in the config. | |
Values & | operator= (const Values &rhs) |
Replace all keys and variables. | |
void | swap (Values &other) |
Swap the contents of two Values without copying data. | |
void | clear () |
Remove all variables from the config. | |
size_t | dim () const |
Compute the total dimensionality of all values ( \( O(n) \)) | |
std::map< Key, size_t > | dims () const |
Return all dimensions in a map ( \( O(n log n) \)) | |
VectorValues | zeroVectors () const |
Return a VectorValues of zero vectors for each variable in this Values. | |
template<class ValueType > | |
size_t | count () const |
template<class ValueType > | |
std::map< Key, ValueType > | extract (const std::function< bool(Key)> &filterFcn=&_truePredicate< Key >) const |
Extract a subset of values of the given type ValueType . More... | |
template<typename ValueType > | |
void | update (Key j, const ValueType &val) |
Constructors | |
Values ()=default | |
Default constructor creates an empty Values class. | |
Values (const Values &other) | |
Copy constructor duplicates all keys and values. | |
Values (Values &&other) | |
Move constructor. | |
Values (std::initializer_list< ConstKeyValuePair > init) | |
Constructor from initializer list. More... | |
Values (const Values &other, const VectorValues &delta) | |
Construct from a Values and an update vector: identical to other.retract(delta) | |
Testable | |
void | print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
print method for testing and debugging | |
bool | equals (const Values &other, double tol=1e-9) const |
Test whether the sets of keys and values are identical. | |
Standard Interface | |
template<typename ValueType > | |
const ValueType | at (Key j) const |
Retrieve a variable by key j . More... | |
double | atDouble (size_t key) const |
version for double | |
const Value & | at (Key j) const |
Retrieve a variable by key j . More... | |
bool | exists (Key j) const |
Check if a value exists with key j . More... | |
template<typename ValueType > | |
boost::optional< const ValueType & > | exists (Key j) const |
Check if a value with key j exists, returns the value with type Value if the key does exist, or boost::none if it does not exist. More... | |
size_t | size () const |
The number of variables in this config. | |
bool | empty () const |
whether the config is empty | |
Iterator | |
deref_iterator | begin () const |
deref_iterator | end () const |
deref_iterator | find (Key j) const |
Find an element by key, returning an iterator, or end() if the key was not found. | |
deref_iterator | lower_bound (Key j) const |
Find the element greater than or equal to the specified key. | |
deref_iterator | upper_bound (Key j) const |
Find the lowest-ordered element greater than the specified key. | |
Manifold Operations | |
Values | retract (const VectorValues &delta) const |
Add a delta config to current config and returns a new config. | |
void | retractMasked (const VectorValues &delta, const KeySet &mask) |
Retract, but only for Keys appearing in mask . More... | |
VectorValues | localCoordinates (const Values &cp) const |
Get a delta config about a linearization point c0 (*this) | |
Public Types | |
typedef boost::shared_ptr< Values > | shared_ptr |
A shared_ptr to this class. | |
typedef boost::shared_ptr< const Values > | const_shared_ptr |
A const shared_ptr to this class. | |
typedef KeyValuePair | value_type |
Classes | |
struct | ConstKeyValuePair |
A key-value pair, which you get by dereferencing iterators. More... | |
struct | deref_iterator |
struct | KeyValuePair |
A key-value pair, which you get by dereferencing iterators. More... | |
Friends | |
class | boost::serialization::access |
Serialization function. | |
Values::Values | ( | std::initializer_list< ConstKeyValuePair > | init | ) |
Constructor from initializer list.
Example usage:
const ValueType Values::at | ( | Key | j | ) | const |
Retrieve a variable by key j
.
The type of the value associated with this key is supplied as a template argument to this function.
j | Retrieve the value associated with this key |
ValueType | The type of the value stored with this key, this method Throws DynamicValuesIncorrectType if this requested type is not correct. Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa. |
Retrieve a variable by key j
.
This version returns a reference to the base Value class, and needs to be casted before use.
j | Retrieve the value associated with this key |
bool Values::exists | ( | Key | j | ) | const |
Check if a value exists with key j
.
See exists<>(Key j) and exists(const TypedKey& j) for versions that return the value if it exists.
boost::optional< const ValueType & > Values::exists | ( | Key | j | ) | const |
Check if a value with key j
exists, returns the value with type Value
if the key does exist, or boost::none if it does not exist.
Throws DynamicValuesIncorrectType if the value type associated with the requested key does not match the stored value type.
std::map< Key, ValueType > Values::extract | ( | const std::function< bool(Key)> & | filterFcn = &_truePredicate<Key> | ) | const |
Extract a subset of values of the given type ValueType
.
In this templated version, only key-value pairs whose value matches the template argument ValueType
and whose key causes the function argument filterFcn
to return true are visited when iterating over the filtered view. This replaces the fancier but very boost-dependent filter
methods that were previously available up to GTSAM 4.2.
ValueType | The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done. |
filterFcn | The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys (default: always return true so that filter() only filters by type, matching ValueType ). |
void Values::insert_or_assign | ( | const Values & | values | ) |
Update a set of variables.
If any variable key doe not exist, then perform an insert.
KeyVector Values::keys | ( | ) | const |
Returns a vector of keys in the config.
Note: by construction, the list is ordered
void Values::retractMasked | ( | const VectorValues & | delta, |
const KeySet & | mask | ||
) |
Retract, but only for Keys appearing in mask
.
In-place.
mask | Mask on Keys where to apply retract. |
void gtsam::Values::update | ( | Key | j, |
const T & | val | ||
) |
Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present.
If no chart is specified, the DefaultChart<ValueType> is used.