gtsam  3.2.1
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gtsam::DiscreteFactor Class Referenceabstract

Detailed Description

Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor.

+ Inheritance diagram for gtsam::DiscreteFactor:

Public Member Functions

Standard Constructors
 DiscreteFactor ()
 Default constructor creates empty factor.
 
template<typename CONTAINER >
 DiscreteFactor (const CONTAINER &keys)
 Construct from container of keys. More...
 
virtual ~DiscreteFactor ()
 Virtual destructor.
 
Testable
virtual bool equals (const DiscreteFactor &lf, double tol=1e-9) const =0
 
virtual void print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const
 
virtual bool empty () const
 Test whether the factor is empty.
 
Standard Interface
virtual double operator() (const Values &) const =0
 Find value for given assignment of values to variables.
 
virtual DecisionTreeFactor operator* (const DecisionTreeFactor &) const =0
 Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.
 
virtual DecisionTreeFactor toDecisionTreeFactor () const =0
 
- Public Member Functions inherited from gtsam::Factor
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const FastVector< Key > & 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
 
void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
FastVector< Key > & keys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Types

typedef DiscreteFactor This
 This class.
 
typedef boost::shared_ptr
< DiscreteFactor > 		shared_ptr
 shared_ptr to this class
 
typedef Factor Base
 Our base class.
 
typedef Assignment< Key > Values
 A map from keys to values TODO: Do we need this? Should we just use gtsam::Values? We just need another special DiscreteValue to represent labels, However, all other Lie's operators are undefined in this class. More...
 
typedef boost::shared_ptr< Values > sharedValues
 
- Public Types inherited from gtsam::Factor
typedef FastVector< Key >::iterator iterator
 Iterator over keys.
 
typedef FastVector< Key >
::const_iterator 		const_iterator
 Const iterator over keys.
 

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...
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
- 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...
 
- Protected Attributes inherited from gtsam::Factor
FastVector< Key > keys_
 The keys involved in this factor.
 

Member Typedef Documentation

typedef Assignment<Key> gtsam::DiscreteFactor::Values

A map from keys to values TODO: Do we need this? Should we just use gtsam::Values? We just need another special DiscreteValue to represent labels, However, all other Lie's operators are undefined in this class.

The good thing is we can have a Hybrid graph of discrete/continuous variables together.. Another good thing is we don't need to have the special DiscreteKey which stores cardinality of a Discrete variable. It should be handled naturally in the new class DiscreteValue, as the varible's type (domain)

Constructor & Destructor Documentation

template<typename CONTAINER >
gtsam::DiscreteFactor::DiscreteFactor ( const CONTAINER &  keys)
inline

Construct from container of keys.

This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

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