gtsam 4.2.0
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gtsam::DiscreteLookupDAG Class Reference

Detailed Description

A DAG made from lookup tables, as defined above.

+ Inheritance diagram for gtsam::DiscreteLookupDAG:

Standard Constructors

 DiscreteLookupDAG ()
 Construct empty DAG.
 
virtual ~DiscreteLookupDAG ()
 Destructor.
 
static DiscreteLookupDAG FromBayesNet (const DiscreteBayesNet &bayesNet)
 Create from BayesNet with LookupTables.
 

Public Member Functions

Testable
bool equals (const This &bn, double tol=1e-9) const
 Check equality.
 
Standard Interface
template<typename... Args>
void add (Args &&... args)
 Add a DiscreteLookupTable.
 
DiscreteValues argmax (DiscreteValues given=DiscreteValues()) const
 argmax by back-substitution, optionally given certain variables.
 
- Public Member Functions inherited from gtsam::BayesNet< DiscreteLookupTable >
void print (const std::string &s="BayesNet", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print out graph
 
void dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format, stream version.
 
std::string dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format string.
 
void saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 output to file with graphviz format.
 
double logProbability (const HybridValues &x) const
 
double evaluate (const HybridValues &c) const
 
- Public Member Functions inherited from gtsam::FactorGraph< FACTOR >
size_t nrFactors () const
 return the number of non-null factors
 
KeySet keys () const
 Potentially slow function to return all keys involved, sorted, as a set.
 
KeyVector keyVector () const
 Potentially slow function to return all keys involved, sorted, as a vector.
 
bool exists (size_t idx) const
 MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer.
 
virtual ~FactorGraph ()=default
 Default destructor Public and virtual so boost serialization can call it.
 
template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>>
 FactorGraph (std::initializer_list< boost::shared_ptr< DERIVEDFACTOR > > sharedFactors)
 Constructor that takes an initializer list of shared pointers.
 
void reserve (size_t size)
 Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).
 
template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR > push_back (boost::shared_ptr< DERIVEDFACTOR > factor)
 Add a factor directly using a shared_ptr.
 
template<class DERIVEDFACTOR , class... Args>
IsDerived< DERIVEDFACTOR > emplace_shared (Args &&... args)
 Emplace a shared pointer to factor of given type.
 
template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR > push_back (const DERIVEDFACTOR &factor)
 Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).
 
template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR > add (boost::shared_ptr< DERIVEDFACTOR > factor)
 add is a synonym for push_back.
 
template<class DERIVEDFACTOR >
std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)
 += works well with boost::assign list inserter.
 
template<typename ITERATOR >
HasDerivedElementType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator over shared_ptr (factors are not copied)
 
template<typename ITERATOR >
HasDerivedValueType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator (factors are copied)
 
template<typename CONTAINER >
HasDerivedElementType< CONTAINER > push_back (const CONTAINER &container)
 Push back many factors as shared_ptr's in a container (factors are not copied)
 
template<typename CONTAINER >
HasDerivedValueType< CONTAINER > push_back (const CONTAINER &container)
 Push back non-pointer objects in a container (factors are copied).
 
template<class FACTOR_OR_CONTAINER >
void add (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc.
 
template<class FACTOR_OR_CONTAINER >
boost::assign::list_inserter< CRefCallPushBack< This > > operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc.
 
template<class CLIQUE >
std::enable_if< std::is_base_of< This, typenameCLIQUE::FactorGraphType >::value >::type push_back (const BayesTree< CLIQUE > &bayesTree)
 Push back a BayesTree as a collection of factors.
 
template<typename CONTAINER , typename = HasDerivedElementType<CONTAINER>>
FactorIndices add_factors (const CONTAINER &factors, bool useEmptySlots=false)
 Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
 
bool equals (const This &fg, double tol=1e-9) const
 Check equality up to tolerance.
 
size_t size () const
 return the number of factors (including any null factors set by remove() ).
 
bool empty () const
 Check if the graph is empty (null factors set by remove() will cause this to return false).
 
const sharedFactor at (size_t i) const
 Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
 
sharedFactorat (size_t i)
 Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
 
const sharedFactor operator[] (size_t i) const
 Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
 
sharedFactoroperator[] (size_t i)
 Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
 
const_iterator begin () const
 Iterator to beginning of factors.
 
const_iterator end () const
 Iterator to end of factors.
 
sharedFactor front () const
 Get the first factor.
 
sharedFactor back () const
 Get the last factor.
 
double error (const HybridValues &values) const
 Add error for all factors.
 
iterator begin ()
 non-const STL-style begin()
 
iterator end ()
 non-const STL-style end()
 
virtual void resize (size_t size)
 Directly resize the number of factors in the graph.
 
void remove (size_t i)
 delete factor without re-arranging indexes by inserting a nullptr pointer
 
void replace (size_t index, sharedFactor factor)
 replace a factor by index
 
iterator erase (iterator item)
 Erase factor and rearrange other factors to take up the empty space.
 
iterator erase (iterator first, iterator last)
 Erase factors and rearrange other factors to take up the empty space.
 
void dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format, stream version.
 
std::string dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format string.
 
void saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 output to file with graphviz format.
 

Public Types

using Base = BayesNet< DiscreteLookupTable >
 
using This = DiscreteLookupDAG
 
using shared_ptr = boost::shared_ptr< This >
 
- Public Types inherited from gtsam::BayesNet< DiscreteLookupTable >
typedef boost::shared_ptr< DiscreteLookupTablesharedConditional
 A shared pointer to a conditional.
 
- Public Types inherited from gtsam::FactorGraph< FACTOR >
typedef FACTOR FactorType
 factor type
 
typedef boost::shared_ptr< FACTOR > sharedFactor
 Shared pointer to a factor.
 
typedef sharedFactor value_type
 
typedef FastVector< sharedFactor >::iterator iterator
 
typedef FastVector< sharedFactor >::const_iterator const_iterator
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::BayesNet< DiscreteLookupTable >
 BayesNet ()
 Default constructor as an empty BayesNet.
 
 BayesNet (ITERATOR firstConditional, ITERATOR lastConditional)
 Construct from iterator over conditionals.
 
 BayesNet (std::initializer_list< sharedConditional > conditionals)
 Constructor that takes an initializer list of shared pointers.
 
- Protected Member Functions inherited from gtsam::FactorGraph< FACTOR >
bool isEqual (const FactorGraph &other) const
 Check exact equality of the factor pointers. Useful for derived ==.
 
 FactorGraph ()
 Default constructor.
 
template<typename ITERATOR >
 FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 Constructor from iterator over factors (shared_ptr or plain objects)
 
template<class CONTAINER >
 FactorGraph (const CONTAINER &factors)
 Construct from container of factors (shared_ptr or plain objects)
 
- Protected Attributes inherited from gtsam::FactorGraph< FACTOR >
FastVector< sharedFactorfactors_
 concept check, makes sure FACTOR defines print and equals
 

Member Function Documentation

◆ argmax()

DiscreteValues gtsam::DiscreteLookupDAG::argmax ( DiscreteValues  given = DiscreteValues()) const

argmax by back-substitution, optionally given certain variables.

Assumes the DAG is reverse topologically sorted, i.e. last conditional will be optimized first and that the DAG does not contain any conditionals for the given variables. If the DAG resulted from eliminating a factor graph, this is true for the elimination ordering.

Returns
given assignment extended w. optimal assignment for all variables.

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