A hybrid Bayes net is a collection of HybridConditionals, which can have discrete conditionals, Gaussian mixtures, or pure Gaussian conditionals.
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| HybridBayesNet ()=default |
| Construct empty Bayes net.
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void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| GTSAM-style printing.
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bool | equals (const This &fg, double tol=1e-9) const |
| GTSAM-style equals.
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void | push_back (boost::shared_ptr< HybridConditional > conditional) |
| Add a hybrid conditional using a shared_ptr.
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template<class Conditional > |
void | emplace_back (Conditional *conditional) |
| Preferred: add a conditional directly using a pointer.
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void | push_back (HybridConditional &&conditional) |
| Add a conditional using a shared_ptr, using implicit conversion to a HybridConditional.
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GaussianBayesNet | choose (const DiscreteValues &assignment) const |
| Get the Gaussian Bayes Net which corresponds to a specific discrete value assignment.
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double | evaluate (const HybridValues &values) const |
| Evaluate hybrid probability density for given HybridValues.
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double | operator() (const HybridValues &values) const |
| Evaluate hybrid probability density for given HybridValues, sugar.
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HybridValues | optimize () const |
| Solve the HybridBayesNet by first computing the MPE of all the discrete variables and then optimizing the continuous variables based on the MPE assignment.
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VectorValues | optimize (const DiscreteValues &assignment) const |
| Given the discrete assignment, return the optimized estimate for the selected Gaussian BayesNet.
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DecisionTreeFactor::shared_ptr | discreteConditionals () const |
| Get all the discrete conditionals as a decision tree factor.
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HybridValues | sample (const HybridValues &given, std::mt19937_64 *rng) const |
| Sample from an incomplete BayesNet, given missing variables.
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HybridValues | sample (std::mt19937_64 *rng) const |
| Sample using ancestral sampling.
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HybridValues | sample (const HybridValues &given) const |
| Sample from an incomplete BayesNet, use default rng.
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HybridValues | sample () const |
| Sample using ancestral sampling, use default rng.
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HybridBayesNet | prune (size_t maxNrLeaves) |
| Prune the Hybrid Bayes Net such that we have at most maxNrLeaves leaves.
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AlgebraicDecisionTree< Key > | logProbability (const VectorValues &continuousValues) const |
| Compute conditional error for each discrete assignment, and return as a tree.
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AlgebraicDecisionTree< Key > | evaluate (const VectorValues &continuousValues) const |
| Compute unnormalized probability q(μ|M), for each discrete assignment, and return as a tree.
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HybridGaussianFactorGraph | toFactorGraph (const VectorValues &measurements) const |
| Convert a hybrid Bayes net to a hybrid Gaussian factor graph by converting all conditionals with instantiated measurements into likelihood factors.
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double | logProbability (const HybridValues &x) const |
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void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version.
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std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format string.
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void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format.
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double | logProbability (const HybridValues &x) const |
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double | evaluate (const HybridValues &c) const |
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size_t | nrFactors () const |
| return the number of non-null factors
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KeySet | keys () const |
| Potentially slow function to return all keys involved, sorted, as a set.
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KeyVector | keyVector () const |
| Potentially slow function to return all keys involved, sorted, as a vector.
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bool | exists (size_t idx) const |
| MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer.
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virtual | ~FactorGraph ()=default |
| Default destructor Public and virtual so boost serialization can call it.
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template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>> |
| FactorGraph (std::initializer_list< boost::shared_ptr< DERIVEDFACTOR > > sharedFactors) |
| Constructor that takes an initializer list of shared pointers.
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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).
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template<class DERIVEDFACTOR > |
IsDerived< DERIVEDFACTOR > | push_back (boost::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr.
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template<class DERIVEDFACTOR , class... Args> |
IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type.
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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).
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template<class DERIVEDFACTOR > |
IsDerived< DERIVEDFACTOR > | add (boost::shared_ptr< DERIVEDFACTOR > factor) |
| add is a synonym for push_back.
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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.
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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)
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template<typename ITERATOR > |
HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator (factors are copied)
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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)
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template<typename CONTAINER > |
HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back non-pointer objects in a container (factors are copied).
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template<class FACTOR_OR_CONTAINER > |
void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc.
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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.
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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.
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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.
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bool | equals (const This &fg, double tol=1e-9) const |
| Check equality up to tolerance.
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size_t | size () const |
| return the number of factors (including any null factors set by remove() ).
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bool | empty () const |
| Check if the graph is empty (null factors set by remove() will cause this to return false).
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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).
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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).
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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).
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sharedFactor & | operator[] (size_t i) |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
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const_iterator | begin () const |
| Iterator to beginning of factors.
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const_iterator | end () const |
| Iterator to end of factors.
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sharedFactor | front () const |
| Get the first factor.
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sharedFactor | back () const |
| Get the last factor.
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double | error (const HybridValues &values) const |
| Add error for all factors.
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iterator | begin () |
| non-const STL-style begin()
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iterator | end () |
| non-const STL-style end()
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virtual void | resize (size_t size) |
| Directly resize the number of factors in the graph.
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void | remove (size_t i) |
| delete factor without re-arranging indexes by inserting a nullptr pointer
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void | replace (size_t index, sharedFactor factor) |
| replace a factor by index
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iterator | erase (iterator item) |
| Erase factor and rearrange other factors to take up the empty space.
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iterator | erase (iterator first, iterator last) |
| Erase factors and rearrange other factors to take up the empty space.
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void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version.
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std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format string.
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void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format.
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