gtsam 4.2.0
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gtsam::Values Class Reference

Detailed Description

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.
 
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.
 
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.
 
KeySet keySet () const
 Returns a set of keys in the config.
 
Valuesoperator= (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.
 
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.
 
 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.
 
double atDouble (size_t key) const
 version for double
 
const Valueat (Key j) const
 Retrieve a variable by key j.
 
bool exists (Key j) const
 Check if a value exists with key j.
 
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.
 
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.
 
VectorValues localCoordinates (const Values &cp) const
 Get a delta config about a linearization point c0 (*this)
 

Public Types

typedef boost::shared_ptr< Valuesshared_ptr
 A shared_ptr to this class.
 
typedef boost::shared_ptr< const Valuesconst_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.
 

Constructor & Destructor Documentation

◆ Values()

Values::Values ( std::initializer_list< ConstKeyValuePair init)

Constructor from initializer list.

Example usage:

Values v = {{k1, genericValue(pose1)}, {k2, genericValue(point2)}};
GenericValue< T > genericValue(const T &v)
Functional constructor of GenericValue<T> so T can be automatically deduced.
Definition GenericValue.h:212
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65

Member Function Documentation

◆ at() [1/2]

template<typename ValueType >
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.

Parameters
jRetrieve the value associated with this key
Template Parameters
ValueTypeThe 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.
Returns
The stored value

◆ at() [2/2]

const Value & Values::at ( Key  j) const

Retrieve a variable by key j.

This version returns a reference to the base Value class, and needs to be casted before use.

Parameters
jRetrieve the value associated with this key
Returns
A const reference to the stored value

◆ exists() [1/2]

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.

◆ exists() [2/2]

template<typename ValueType >
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.

◆ extract()

template<class ValueType >
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.

Template Parameters
ValueTypeThe 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.
Parameters
filterFcnThe 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).
Returns
An Eigen aligned map on Key with the filtered values.

◆ insert_or_assign()

void Values::insert_or_assign ( const Values values)

Update a set of variables.

If any variable key doe not exist, then perform an insert.

◆ keys()

KeyVector Values::keys ( ) const

Returns a vector of keys in the config.

Note: by construction, the list is ordered

◆ retractMasked()

void Values::retractMasked ( const VectorValues delta,
const KeySet mask 
)

Retract, but only for Keys appearing in mask.

In-place.

Parameters
maskMask on Keys where to apply retract.

◆ update()

template<typename T >
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.


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