gtsam 4.2.0
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gtsam::HybridConditional Class Reference

Detailed Description

Hybrid Conditional Density.

As a type-erased variant of:

The reason why this is important is that Conditional<T> is a CRTP class. CRTP is static polymorphism such that all CRTP classes, while bearing the same name, are different classes not sharing a vtable. This prevents them from being contained in any container, and thus it is impossible to dynamically cast between them. A better option, as illustrated here, is treating them as an implementation detail - such that the hybrid mechanism does not know what is inside the HybridConditional. This prevents us from having diamond inheritances, and neutralized the need to change other components of GTSAM to make hybrid elimination work.

A great reference to the type-erasure pattern is Eduardo Madrid's CppCon talk (https://www.youtube.com/watch?v=s082Qmd_nHs).

+ Inheritance diagram for gtsam::HybridConditional:

Public Member Functions

Standard Constructors
 HybridConditional ()=default
 Default constructor needed for serialization.
 
 HybridConditional (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, size_t nFrontals)
 Construct a new Hybrid Conditional object.
 
 HybridConditional (const KeyVector &continuousFrontals, const DiscreteKeys &discreteFrontals, const KeyVector &continuousParents, const DiscreteKeys &discreteParents)
 Construct a new Hybrid Conditional object.
 
 HybridConditional (const boost::shared_ptr< GaussianConditional > &continuousConditional)
 Construct a new Hybrid Conditional object.
 
 HybridConditional (const boost::shared_ptr< DiscreteConditional > &discreteConditional)
 Construct a new Hybrid Conditional object.
 
 HybridConditional (const boost::shared_ptr< GaussianMixture > &gaussianMixture)
 Construct a new Hybrid Conditional object.
 
Testable
void print (const std::string &s="Hybrid Conditional: ", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 GTSAM-style print.
 
bool equals (const HybridFactor &other, double tol=1e-9) const override
 GTSAM-style equals.
 
Standard Interface
GaussianMixture::shared_ptr asMixture () const
 Return HybridConditional as a GaussianMixture.
 
GaussianConditional::shared_ptr asGaussian () const
 Return HybridConditional as a GaussianConditional.
 
DiscreteConditional::shared_ptr asDiscrete () const
 Return conditional as a DiscreteConditional.
 
boost::shared_ptr< Factorinner () const
 Get the type-erased pointer to the inner type.
 
double error (const HybridValues &values) const override
 Return the error of the underlying conditional.
 
double logProbability (const HybridValues &values) const override
 Return the log-probability (or density) of the underlying conditional.
 
double logNormalizationConstant () const override
 Return the log normalization constant.
 
double evaluate (const HybridValues &values) const override
 Return the probability (or density) of the underlying conditional.
 
bool frontalsIn (const VectorValues &measurements) const
 Check if VectorValues measurements contains all frontal keys.
 
- Public Member Functions inherited from gtsam::HybridFactor
 HybridFactor ()=default
 Default constructor creates empty factor.
 
 HybridFactor (const KeyVector &keys)
 Construct hybrid factor from continuous keys.
 
 HybridFactor (const DiscreteKeys &discreteKeys)
 Construct hybrid factor from discrete keys.
 
 HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
 Construct a new Hybrid Factor object.
 
virtual ~HybridFactor ()=default
 Virtual destructor.
 
void print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print
 
bool isDiscrete () const
 True if this is a factor of discrete variables only.
 
bool isContinuous () const
 True if this is a factor of continuous variables only.
 
bool isHybrid () const
 True is this is a Discrete-Continuous factor.
 
size_t nrContinuous () const
 Return the number of continuous variables in this factor.
 
const DiscreteKeysdiscreteKeys () const
 Return the discrete keys for this factor.
 
const KeyVectorcontinuousKeys () const
 Return only the continuous keys for this factor.
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor.
 
bool empty () const
 Whether the factor is empty (involves zero variables).
 
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const KeyVectorkeys () 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
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 
- Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
void print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print with optional formatter
 
bool equals (const This &c, double tol=1e-9) const
 check equality
 
size_t nrFrontals () const
 return the number of frontals
 
size_t nrParents () const
 return the number of parents
 
Key firstFrontalKey () const
 Convenience function to get the first frontal key.
 
Frontals frontals () const
 return a view of the frontal keys
 
Parents parents () const
 return a view of the parent keys
 
double operator() (const HybridValues &x) const
 Evaluate probability density, sugar.
 
double normalizationConstant () const
 Non-virtual, exponentiate logNormalizationConstant.
 
size_t & nrFrontals ()
 Mutable version of nrFrontals.
 
FACTOR::const_iterator beginFrontals () const
 Iterator pointing to first frontal key.
 
FACTOR::iterator beginFrontals ()
 Mutable iterator pointing to first frontal key.
 
FACTOR::const_iterator endFrontals () const
 Iterator pointing past the last frontal key.
 
FACTOR::iterator endFrontals ()
 Mutable iterator pointing past the last frontal key.
 
FACTOR::const_iterator beginParents () const
 Iterator pointing to the first parent key.
 
FACTOR::iterator beginParents ()
 Mutable iterator pointing to the first parent key.
 
FACTOR::const_iterator endParents () const
 Iterator pointing past the last parent key.
 
FACTOR::iterator endParents ()
 Mutable iterator pointing past the last parent key.
 

Public Types

typedef HybridConditional This
 Typedef to this class.
 
typedef boost::shared_ptr< Thisshared_ptr
 shared_ptr to this class
 
typedef HybridFactor BaseFactor
 Typedef to our factor base class.
 
typedef Conditional< BaseFactor, ThisBaseConditional
 Typedef to our conditional base class.
 
- Public Types inherited from gtsam::HybridFactor
typedef HybridFactor This
 This class.
 
typedef boost::shared_ptr< HybridFactorshared_ptr
 shared_ptr to this class
 
typedef Factor Base
 Our base class.
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 
- Public Types inherited from gtsam::Conditional< HybridFactor, HybridConditional >
typedef boost::iterator_range< typename FACTOR::const_iterator > Frontals
 View of the frontal keys (call frontals())
 
typedef boost::iterator_range< typename FACTOR::const_iterator > Parents
 View of the separator keys (call parents())
 

Protected Attributes

boost::shared_ptr< Factorinner_
 Type-erased pointer to the inner type.
 
- Protected Attributes inherited from gtsam::HybridFactor
DiscreteKeys discreteKeys_
 
KeyVector continuousKeys_
 Record continuous keys for book-keeping.
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 
- Protected Attributes inherited from gtsam::Conditional< HybridFactor, HybridConditional >
size_t nrFrontals_
 The first nrFrontal variables are frontal and the rest are parents.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
static bool CheckInvariants (const HybridConditional &conditional, const VALUES &x)
 Check invariants of this conditional, given the values x.
 
- 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.
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys.
 
- Protected Member Functions inherited from gtsam::Conditional< HybridFactor, HybridConditional >
 Conditional ()
 Empty Constructor to make serialization possible.
 
 Conditional (size_t nrFrontals)
 Constructor.
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys.
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys.
 

Constructor & Destructor Documentation

◆ HybridConditional() [1/5]

gtsam::HybridConditional::HybridConditional ( const KeyVector continuousKeys,
const DiscreteKeys discreteKeys,
size_t  nFrontals 
)
inline

Construct a new Hybrid Conditional object.

Parameters
continuousKeysVector of keys for continuous variables.
discreteKeysKeys and cardinalities for discrete variables.
nFrontalsThe number of frontal variables in the conditional.

◆ HybridConditional() [2/5]

gtsam::HybridConditional::HybridConditional ( const KeyVector continuousFrontals,
const DiscreteKeys discreteFrontals,
const KeyVector continuousParents,
const DiscreteKeys discreteParents 
)

Construct a new Hybrid Conditional object.

Parameters
continuousFrontalsVector of keys for continuous variables.
discreteFrontalsKeys and cardinalities for discrete variables.
continuousParentsVector of keys for parent continuous variables.
discreteParentsKeys and cardinalities for parent discrete variables.

◆ HybridConditional() [3/5]

gtsam::HybridConditional::HybridConditional ( const boost::shared_ptr< GaussianConditional > &  continuousConditional)

Construct a new Hybrid Conditional object.

Parameters
continuousConditionalConditional used to create the HybridConditional.

◆ HybridConditional() [4/5]

gtsam::HybridConditional::HybridConditional ( const boost::shared_ptr< DiscreteConditional > &  discreteConditional)

Construct a new Hybrid Conditional object.

Parameters
discreteConditionalConditional used to create the HybridConditional.

◆ HybridConditional() [5/5]

gtsam::HybridConditional::HybridConditional ( const boost::shared_ptr< GaussianMixture > &  gaussianMixture)

Construct a new Hybrid Conditional object.

Parameters
gaussianMixtureGaussian Mixture Conditional used to create the HybridConditional.

Member Function Documentation

◆ asDiscrete()

DiscreteConditional::shared_ptr gtsam::HybridConditional::asDiscrete ( ) const
inline

Return conditional as a DiscreteConditional.

Returns
nullptr if not a DiscreteConditional
DiscreteConditional::shared_ptr

◆ asGaussian()

GaussianConditional::shared_ptr gtsam::HybridConditional::asGaussian ( ) const
inline

◆ asMixture()

GaussianMixture::shared_ptr gtsam::HybridConditional::asMixture ( ) const
inline

Return HybridConditional as a GaussianMixture.

Returns
nullptr if not a mixture
GaussianMixture::shared_ptr otherwise

◆ equals()

bool gtsam::HybridConditional::equals ( const HybridFactor other,
double  tol = 1e-9 
) const
overridevirtual

GTSAM-style equals.

Reimplemented from gtsam::HybridFactor.

◆ error()

double gtsam::HybridConditional::error ( const HybridValues values) const
overridevirtual

Return the error of the underlying conditional.

Reimplemented from gtsam::Factor.

◆ evaluate()

double gtsam::HybridConditional::evaluate ( const HybridValues values) const
overridevirtual

Return the probability (or density) of the underlying conditional.

Reimplemented from gtsam::Conditional< HybridFactor, HybridConditional >.

◆ logNormalizationConstant()

double gtsam::HybridConditional::logNormalizationConstant ( ) const
overridevirtual

Return the log normalization constant.

Note this is 0.0 for discrete and hybrid conditionals, but depends on the continuous parameters for Gaussian conditionals.

Reimplemented from gtsam::Conditional< HybridFactor, HybridConditional >.

◆ logProbability()

double gtsam::HybridConditional::logProbability ( const HybridValues values) const
overridevirtual

Return the log-probability (or density) of the underlying conditional.

Reimplemented from gtsam::Conditional< HybridFactor, HybridConditional >.

◆ print()

void gtsam::HybridConditional::print ( const std::string &  s = "Hybrid Conditional: ",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
overridevirtual

GTSAM-style print.

Reimplemented from gtsam::Factor.


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