dcsam::DiscretePriorFactor Class Reference

Implementation of a discrete prior factor. More...

#include <DiscretePriorFactor.h>

Inheritance diagram for dcsam::DiscretePriorFactor:

Collaboration diagram for dcsam::DiscretePriorFactor:

Public Types
using	Base = gtsam::DiscreteFactor

Public Member Functions
	DiscretePriorFactor ()=default
	DiscretePriorFactor (const gtsam::DiscreteKey &dk, const std::vector< double > probs)
bool	equals (const DiscreteFactor &other, double tol=1e-9) const override
DiscretePriorFactor &	operator= (const DiscretePriorFactor &rhs)
gtsam::DecisionTreeFactor	toDecisionTreeFactor () const override
gtsam::DecisionTreeFactor	operator* (const gtsam::DecisionTreeFactor &f) const override
double	operator() (const DiscreteValues &values) const override
std::string	markdown (const gtsam::KeyFormatter &keyFormatter, const Names &names) const override
std::string	html (const gtsam::KeyFormatter &keyFormatter, const Names &names) const override

Protected Attributes
gtsam::DiscreteKey	dk_
std::vector< double >	probs_

Detailed Description

Implementation of a discrete prior factor.

This factor specifies a prior distribution over a discrete variable. The user provides a discrete key dk consisting of a key (e.g. gtsam::Symbol) and the cardinality of the discrete variable. The vector probs specifies a distribution over the possible values that could be taken by the variable.

For example, for a variable d1 with 2 possible values, p(d1 = i) = probs[i] with i being 0 or 1. The length of the vector probs therefore must be equal to the cardinality of the discrete variable.

Member Typedef Documentation

Base

using dcsam::DiscretePriorFactor::Base = gtsam::DiscreteFactor

Constructor & Destructor Documentation

DiscretePriorFactor() [1/2]

dcsam::DiscretePriorFactor::DiscretePriorFactor ( )

default

DiscretePriorFactor() [2/2]

dcsam::DiscretePriorFactor::DiscretePriorFactor ( const gtsam::DiscreteKey &  dk, const std::vector< double >  probs  )

inline

Member Function Documentation

equals()

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

inlineoverride

html()

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

inlineoverride

markdown()

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

inlineoverride

operator()()

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

inlineoverride

operator*()

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

inlineoverride

operator=()

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

inline

toDecisionTreeFactor()

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

inlineoverride

Member Data Documentation

dk_

gtsam::DiscreteKey dcsam::DiscretePriorFactor::dk_

protected

probs_

std::vector<double> dcsam::DiscretePriorFactor::probs_

protected

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

• include/dcsam/DiscretePriorFactor.h