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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
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).
sharedFactor & | at (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).
sharedFactor & | operator[] (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< DiscreteLookupTable > | sharedConditional
| 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< sharedFactor > | factors_
| 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:

- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/discrete/DiscreteLookupDAG.h
- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/discrete/DiscreteLookupDAG.cpp