gtsam 4.2.0
gtsam
gtsam::DiscreteFactor Class Referenceabstract

Detailed Description

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

DecisionTreeFactor, which represent a discrete distribution over a set of variables.

  • Hybrid factors, such as
+ Inheritance diagram for gtsam::DiscreteFactor:

Wrapper support

using Names = DiscreteValues::Names
 Translation table from values to strings.
 
virtual std::string markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
 Render as markdown table. More...
 
virtual std::string html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const Names &names={}) const =0
 Render as html table. More...
 

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
 equals More...
 
void print (const std::string &s="DiscreteFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override
 print More...
 
Standard Interface
virtual double operator() (const DiscreteValues &) const =0
 Find value for given assignment of values to variables. More...
 
double error (const DiscreteValues &values) const
 Error is just -log(value)
 
double error (const HybridValues &c) const override
 All factor types need to implement an error function. More...
 
virtual DecisionTreeFactor operator* (const DecisionTreeFactor &) const =0
 Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor. More...
 
virtual DecisionTreeFactor toDecisionTreeFactor () const =0
 
- 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 More...
 
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 Types

typedef DiscreteFactor This
 This class.
 
typedef boost::shared_ptr< DiscreteFactorshared_ptr
 shared_ptr to this class
 
typedef Factor Base
 Our base class.
 
using Values = DiscreteValues
 backwards compatibility
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::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...
 
- 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
KeyVector keys_
 The keys involved in this factor.
 

Constructor & Destructor Documentation

◆ DiscreteFactor()

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.

Member Function Documentation

◆ equals()

virtual bool gtsam::DiscreteFactor::equals ( const DiscreteFactor lf,
double  tol = 1e-9 
) const
pure virtual

◆ error()

double DiscreteFactor::error ( const HybridValues c) const
overridevirtual

All factor types need to implement an error function.

In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteConditional.

◆ html()

virtual std::string gtsam::DiscreteFactor::html ( const KeyFormatter keyFormatter = DefaultKeyFormatter,
const Names names = {} 
) const
pure virtual

Render as html table.

Parameters
keyFormatterGTSAM-style Key formatter.
namesoptional, category names corresponding to choices.
Returns
std::string a html string.

Implemented in gtsam::DecisionTreeFactor, and gtsam::DiscreteConditional.

◆ markdown()

virtual std::string gtsam::DiscreteFactor::markdown ( const KeyFormatter keyFormatter = DefaultKeyFormatter,
const Names names = {} 
) const
pure virtual

Render as markdown table.

Parameters
keyFormatterGTSAM-style Key formatter.
namesoptional, category names corresponding to choices.
Returns
std::string a markdown string.

Implemented in gtsam::DecisionTreeFactor, and gtsam::DiscreteConditional.

◆ operator()()

virtual double gtsam::DiscreteFactor::operator() ( const DiscreteValues ) const
pure virtual

Find value for given assignment of values to variables.

Implemented in gtsam::DecisionTreeFactor.

◆ operator*()

virtual DecisionTreeFactor gtsam::DiscreteFactor::operator* ( const DecisionTreeFactor ) const
pure virtual

Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor.

Implemented in gtsam::DecisionTreeFactor.

◆ print()

void gtsam::DiscreteFactor::print ( const std::string &  s = "DiscreteFactor\n",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::DiscreteLookupTable.

◆ toDecisionTreeFactor()

virtual DecisionTreeFactor gtsam::DiscreteFactor::toDecisionTreeFactor ( ) const
pure virtual

Implemented in gtsam::DecisionTreeFactor.


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