58 : continuous_(cv), discrete_(dv){};
63 : continuous_(cv), discrete_(dv), nonlinear_(v){};
70 void print(
const std::string& s =
"HybridValues",
71 const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const {
72 std::cout << s <<
": \n";
73 continuous_.
print(
" Continuous",
75 discrete_.
print(
" Discrete", keyFormatter);
80 return continuous_.
equals(other.continuous_, tol) &&
81 discrete_.
equals(other.discrete_, tol);
105 return nonlinear_.
exists(j);
110 return existsVector(j) || existsDiscrete(j) || existsNonlinear(j);
123 void insert(
Key j,
size_t value) { discrete_[j] = value; };
132 discrete_[j] = value;
138 continuous_.
insert(values);
145 discrete_.insert(values);
152 nonlinear_.
insert(values);
160 discrete_.insert(values.
discrete());
169 Vector&
at(
Key j) {
return continuous_.
at(j); };
182 continuous_.
update(values);
208 for (
const auto& key : keys) {
209 measurements.
insert(key, continuous_.
at(key));
225 const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const {
226 std::stringstream ss;
227 ss << this->continuous_.
html(keyFormatter);
228 ss << this->discrete_.
html(keyFormatter);
An assignment from labels to a discrete value index (size_t)
specialized key for discrete variables
A non-templated config holding any types of Manifold-group elements.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition Key.h:86
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
A map from keys to values.
Definition DiscreteValues.h:34
std::string html(const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const
Output as a html table.
Definition DiscreteValues.cpp:104
DiscreteValues & update(const DiscreteValues &values)
For all key/value pairs in values, replace values with corresponding keys in this object with those i...
Definition DiscreteValues.cpp:63
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
print required by Testable.
Definition DiscreteValues.cpp:31
bool equals(const DiscreteValues &x, double tol=1e-9) const
equals required by Testable for unit testing.
Definition DiscreteValues.cpp:40
HybridValues represents a collection of DiscreteValues and VectorValues.
Definition HybridValues.h:38
void print(const std::string &s="HybridValues", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
print required by Testable for unit testing
Definition HybridValues.h:70
void insert(Key j, const Vector &value)
Insert a vector value with key j.
Definition HybridValues.h:117
HybridValues & insert(const DiscreteValues &values)
Insert all discrete values from values.
Definition HybridValues.h:144
HybridValues(const VectorValues &cv, const DiscreteValues &dv, const Values &v)
Construct from all values types.
Definition HybridValues.h:61
std::string html(const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Output as a html table.
Definition HybridValues.h:224
VectorValues continuousSubset(const KeyVector &keys) const
Extract continuous values with given keys.
Definition HybridValues.h:206
void insert_or_assign(Key j, const Vector &value)
insert_or_assign() , similar to Values.h
Definition HybridValues.h:126
HybridValues & insert(const Values &values)
Insert all values from values.
Definition HybridValues.h:151
bool equals(const HybridValues &other, double tol=1e-9) const
equals required by Testable for unit testing
Definition HybridValues.h:79
HybridValues & update(const VectorValues &values)
For all key/value pairs in values, replace continuous values with corresponding keys in this object w...
Definition HybridValues.h:181
const DiscreteValues & discrete() const
Return the discrete values.
Definition HybridValues.h:92
bool existsDiscrete(Key j)
Check whether a variable with key j exists in DiscreteValues.
Definition HybridValues.h:101
const VectorValues & continuous() const
Return the multi-dimensional vector values.
Definition HybridValues.h:89
Vector & at(Key j)
Read/write access to the vector value with key j, throws std::out_of_range if j does not exist.
Definition HybridValues.h:169
bool exists(Key j)
Check whether a variable with key j exists.
Definition HybridValues.h:109
HybridValues & update(const DiscreteValues &values)
For all key/value pairs in values, replace discrete values with corresponding keys in this object wit...
Definition HybridValues.h:190
HybridValues & insert(const HybridValues &values)
Insert all values from values.
Definition HybridValues.h:158
HybridValues & insert(const VectorValues &values)
Insert all continuous values from values.
Definition HybridValues.h:137
void insert(Key j, size_t value)
Insert a discrete value with key j.
Definition HybridValues.h:123
const Values & nonlinear() const
Return the nonlinear values.
Definition HybridValues.h:95
bool existsNonlinear(Key j)
Check whether a variable with key j exists in values.
Definition HybridValues.h:104
HybridValues & update(const HybridValues &values)
For all key/value pairs in values, replace all values with corresponding keys in this object with tho...
Definition HybridValues.h:199
HybridValues()=default
Default constructor creates an empty HybridValues.
bool existsVector(Key j)
Check whether a variable with key j exists in VectorValues.
Definition HybridValues.h:98
HybridValues(const VectorValues &cv, const DiscreteValues &dv)
Construct from DiscreteValues and VectorValues.
Definition HybridValues.h:57
size_t & atDiscrete(Key j)
Read/write access to the discrete value with key j, throws std::out_of_range if j does not exist.
Definition HybridValues.h:175
void insert_or_assign(Key j, size_t value)
insert_or_assign() , similar to Values.h
Definition HybridValues.h:131
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition VectorValues.h:74
iterator insert(const std::pair< Key, Vector > &key_value)
Insert a vector value with key j.
Definition VectorValues.cpp:91
void print(const std::string &str="VectorValues", const KeyFormatter &formatter=DefaultKeyFormatter) const
print required by Testable for unit testing
Definition VectorValues.cpp:158
bool equals(const VectorValues &x, double tol=1e-9) const
equals required by Testable for unit testing
Definition VectorValues.cpp:166
bool exists(Key j) const
Check whether a variable with key j exists.
Definition VectorValues.h:133
std::string html(const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Output as a html table.
Definition VectorValues.cpp:387
void insert_or_assign(Key j, const Vector &value)
insert_or_assign that mimics the STL map insert_or_assign - if the value already exists,...
Definition VectorValues.h:219
Vector & at(Key j)
Read/write access to the vector value with key j, throws std::out_of_range if j does not exist,...
Definition VectorValues.h:139
VectorValues & update(const VectorValues &values)
For all key/value pairs in values, replace values with corresponding keys in this class with those in...
Definition VectorValues.cpp:101
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65
void insert(Key j, const Value &val)
Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present.
Definition Values.cpp:157
bool exists(Key j) const
Check if a value exists with key j.
Definition Values.cpp:94