dcsam::DCDiscreteFactor Class Reference

Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a discrete factor (gtsam::DiscreteFactor) that can be passed to GTSAM for discrete optimization with a fixed assignment to continuous variables. More...

#include <DCDiscreteFactor.h>

Inheritance diagram for dcsam::DCDiscreteFactor:

Collaboration diagram for dcsam::DCDiscreteFactor:

Public Types
using	Base = gtsam::DiscreteFactor

Public Member Functions
	DCDiscreteFactor ()=default
	DCDiscreteFactor (const gtsam::DiscreteKeys &discreteKeys, boost::shared_ptr< DCFactor > dcfactor)
	DCDiscreteFactor (boost::shared_ptr< DCFactor > dcfactor)
DCDiscreteFactor &	operator= (const DCDiscreteFactor &rhs)
virtual	~DCDiscreteFactor ()=default
bool	equals (const DiscreteFactor &other, double tol=1e-9) const override
gtsam::DecisionTreeFactor	toDecisionTreeFactor () const override
gtsam::DecisionTreeFactor	operator* (const gtsam::DecisionTreeFactor &f) const override
double	operator() (const DiscreteValues &values) const override
void	updateContinuous (const gtsam::Values &continuousVals)
void	updateDiscrete (const DiscreteValues &discreteVals)
bool	allInitialized () const
std::string	markdown (const gtsam::KeyFormatter &keyFormatter, const Names &names) const override
std::string	html (const gtsam::KeyFormatter &keyFormatter, const Names &names) const override

Detailed Description

Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a discrete factor (gtsam::DiscreteFactor) that can be passed to GTSAM for discrete optimization with a fixed assignment to continuous variables.

After running an iteration of discrete optimization (and separately, continuous optimization), the updateContinuous function is used to ensure the stored continuous value assignment matches the most recent estimate for continuous variables.

The continuous analogue is DCContinuousFactor.

Member Typedef Documentation

Base

using dcsam::DCDiscreteFactor::Base = gtsam::DiscreteFactor

Constructor & Destructor Documentation

DCDiscreteFactor() [1/3]

dcsam::DCDiscreteFactor::DCDiscreteFactor ( )

default

DCDiscreteFactor() [2/3]

dcsam::DCDiscreteFactor::DCDiscreteFactor ( const gtsam::DiscreteKeys &  discreteKeys, boost::shared_ptr< DCFactor >  dcfactor  )

inline

DCDiscreteFactor() [3/3]

dcsam::DCDiscreteFactor::DCDiscreteFactor ( boost::shared_ptr< DCFactor >  dcfactor )

inlineexplicit

~DCDiscreteFactor()

virtual dcsam::DCDiscreteFactor::~DCDiscreteFactor ( )

virtualdefault

Member Function Documentation

allInitialized()

bool dcsam::DCDiscreteFactor::allInitialized ( ) const

inline

equals()

bool dcsam::DCDiscreteFactor::equals ( const DiscreteFactor &  other, double  tol = 1e-9  ) const

inlineoverride

html()

std::string dcsam::DCDiscreteFactor::html ( const gtsam::KeyFormatter &  keyFormatter, const Names &  names  ) const

inlineoverride

markdown()

std::string dcsam::DCDiscreteFactor::markdown ( const gtsam::KeyFormatter &  keyFormatter, const Names &  names  ) const

inlineoverride

operator()()

double dcsam::DCDiscreteFactor::operator() ( const DiscreteValues &  values ) const

inlineoverride

operator*()

gtsam::DecisionTreeFactor dcsam::DCDiscreteFactor::operator* ( const gtsam::DecisionTreeFactor &  f ) const

inlineoverride

operator=()

DCDiscreteFactor& dcsam::DCDiscreteFactor::operator= ( const DCDiscreteFactor &  rhs )

inline

toDecisionTreeFactor()

gtsam::DecisionTreeFactor dcsam::DCDiscreteFactor::toDecisionTreeFactor ( ) const

inlineoverride

updateContinuous()

void dcsam::DCDiscreteFactor::updateContinuous ( const gtsam::Values &  continuousVals )

inline

updateDiscrete()

void dcsam::DCDiscreteFactor::updateDiscrete ( const DiscreteValues &  discreteVals )

inline

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

• include/dcsam/DCDiscreteFactor.h