Base class for truly hybrid probabilistic factors.
a mixture of Gaussian and discrete distributions over a set of variables.
Examples:
Symbolic factors, used to represent a graph structure, such as
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| HybridFactor ()=default |
| Default constructor creates empty factor.
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| HybridFactor (const KeyVector &keys) |
| Construct hybrid factor from continuous keys.
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| HybridFactor (const DiscreteKeys &discreteKeys) |
| Construct hybrid factor from discrete keys.
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| HybridFactor (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) |
| Construct a new Hybrid Factor object.
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virtual | ~HybridFactor ()=default |
| Virtual destructor.
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virtual bool | equals (const HybridFactor &lf, double tol=1e-9) const |
| equals
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void | print (const std::string &s="HybridFactor\n", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print
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bool | isDiscrete () const |
| True if this is a factor of discrete variables only.
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bool | isContinuous () const |
| True if this is a factor of continuous variables only.
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bool | isHybrid () const |
| True is this is a Discrete-Continuous factor.
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size_t | nrContinuous () const |
| Return the number of continuous variables in this factor.
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const DiscreteKeys & | discreteKeys () const |
| Return the discrete keys for this factor.
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const KeyVector & | continuousKeys () const |
| Return only the continuous keys for this factor.
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virtual | ~Factor ()=default |
| Default destructor.
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bool | empty () const |
| Whether the factor is empty (involves zero variables).
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Key | front () const |
| First key.
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Key | back () const |
| Last key.
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const_iterator | find (Key key) const |
| find
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const KeyVector & | keys () const |
| Access the factor's involved variable keys.
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const_iterator | begin () const |
| Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| Iterator at end of involved variable keys.
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virtual double | error (const HybridValues &c) const |
| All factor types need to implement an error function.
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size_t | size () const |
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys
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bool | equals (const This &other, double tol=1e-9) const |
| check equality
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KeyVector & | keys () |
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iterator | begin () |
| Iterator at beginning of involved variable keys.
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iterator | end () |
| Iterator at end of involved variable keys.
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| Factor () |
| Default constructor for I/O.
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template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
| Construct factor from container of keys.
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template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys.
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template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys.
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template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys.
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