This class offers a minimal interface to manager a factor graph. More...

#include <AIToolbox/Factored/Utils/FactorGraph.hpp>

Classes
class	FactorNode

Public Types
using	Variables = PartialKeys

using	FactorList = std::list< FactorNode >

using	FactorIt = typename FactorList::iterator

using	CFactorIt = typename FactorList::const_iterator

using	FactorItList = std::vector< FactorIt >

using	value_type = FactorData

using	iterator = FactorIt

using	const_iterator = CFactorIt

Public Member Functions
	FactorGraph (size_t variables)
	Basic constructor. More...

	FactorGraph (const FactorGraph &other)
	Copy constructor. More...

FactorGraph &	operator= (const FactorGraph &)=delete
	Deleted assignment operator. More...

void	reset (size_t variables)
	This function re-initializes the graph from scratch as if it was just being built. More...

const FactorItList &	getFactors (size_t variable) const
	This function returns all factors adjacent to the given variable. More...

const Variables &	getVariables (size_t variable) const
	This function returns all variables adjacent to a factor adjacent to the input variable. More...

const Variables &	getVariables (FactorIt factor) const
	This function returns all variables adjacent to the given factor. More...

const Variables &	getVariables (CFactorIt factor) const
	This function returns all variables adjacent to the given factor. More...

Variables	getVariables (const FactorItList &factors) const
	This function returns all variables adjacent to any of the given factors. More...

FactorIt	getFactor (const Variables &variables)
	This function returns an iterator to a factor adjacent to the given variables. More...

void	erase (size_t variable)
	This function partially removes an variable from the graph. More...

size_t	variableSize () const
	This function returns the number of variables still in the graph. More...

size_t	factorSize () const
	This function returns the number of factors still in the graph. More...

FactorIt	begin ()
	This function provides an editable iterator to the beginning of the internal factor list. More...

CFactorIt	begin () const
	This function provides a const iterator to the beginning of the internal factor list. More...

CFactorIt	cbegin () const
	This function provides a const iterator to the beginning of the internal factor list. More...

FactorIt	end ()
	This function provides an editable interactor to the end of the internal factor list. More...

CFactorIt	end () const
	This function provides a const interactor to the end of the internal factor list. More...

CFactorIt	cend () const
	This function provides a const interactor to the end of the internal factor list. More...

size_t	bestVariableToRemove (const Factors &F) const
	This function returns the variable which is the cheapest to remove with GenericVariableElimination. More...

Detailed Description

template<typename FactorData>
class AIToolbox::Factored::FactorGraph< FactorData >

This class offers a minimal interface to manager a factor graph.

This class allows to store arbitrary data into each factor, and to maintain adjacency lists between the factors and a given number of variables. The interface is intentionally very simple and tries to do very little, in order to allow clients to optimize their use of the graph as much as possible.

This class maintains a single FactorNode for any unique combination of variables. When multiple factors are needed, a single FactorNode containing a vector of data should suffice.

This class can allocate list nodes from an internal static pool; so it is probably not thread-safe.

Template Parameters

FactorData The class that is stored for each FactorNode.

Member Typedef Documentation

◆ CFactorIt

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::CFactorIt = typename FactorList::const_iterator

◆ const_iterator

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::const_iterator = CFactorIt

◆ FactorIt

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::FactorIt = typename FactorList::iterator

◆ FactorItList

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::FactorItList = std::vector<FactorIt>

◆ FactorList

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::FactorList = std::list<FactorNode>

◆ iterator

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::iterator = FactorIt

◆ value_type

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::value_type = FactorData

◆ Variables

template<typename FactorData >

using AIToolbox::Factored::FactorGraph< FactorData >::Variables = PartialKeys

Constructor & Destructor Documentation

◆ FactorGraph() [1/2]

template<typename FD >

AIToolbox::Factored::FactorGraph< FD >::FactorGraph ( size_t variables )

Basic constructor.

This constructor initializes the variable adjacency list with the given number of variables. Variables in this class cannot be added, only removed.

Parameters

variables The number of variables with which to start the graph.

◆ FactorGraph() [2/2]

template<typename FD >

AIToolbox::Factored::FactorGraph< FD >::FactorGraph ( const FactorGraph< FactorData > & other )

Copy constructor.

This constructor simply copies the graph, but also makes sure that the internal stored iterators point to the correct containers.

We do not check the internal FactorData, so make sure it doesn't have pointers or iterators inside!

Parameters

other The graph to copy.

Member Function Documentation

◆ begin() [1/2]

template<typename FD >

FactorGraph< FD >::CFactorIt AIToolbox::Factored::FactorGraph< FD >::begin

This function provides an editable iterator to the beginning of the internal factor list.

This function is used in order to allow editing of all the factors.

Returns: An iterator to the beginning of the internal factor range.

◆ begin() [2/2]

template<typename FactorData >

CFactorIt AIToolbox::Factored::FactorGraph< FactorData >::begin ( ) const

This function provides a const iterator to the beginning of the internal factor list.

Returns: A const iterator to the beginning of the internal factor range.

◆ bestVariableToRemove()

template<typename FD >

size_t AIToolbox::Factored::FactorGraph< FD >::bestVariableToRemove ( const Factors & F ) const

This function returns the variable which is the cheapest to remove with GenericVariableElimination.

The choice is made heuristically, as computing the true best is an NP-Complete problem.

Parameters

F	The value space for each variable.

Returns: The best variable to eliminate.

◆ cbegin()

template<typename FD >

FactorGraph< FD >::CFactorIt AIToolbox::Factored::FactorGraph< FD >::cbegin

This function provides a const iterator to the beginning of the internal factor list.

Returns: A const iterator to the beginning of the internal factor range.

◆ cend()

template<typename FD >

FactorGraph< FD >::CFactorIt AIToolbox::Factored::FactorGraph< FD >::cend

This function provides a const interactor to the end of the internal factor list.

See also: factorsBegin() const

Returns: A const iterator to the end of the internal factor range.

◆ end() [1/2]

template<typename FD >

FactorGraph< FD >::CFactorIt AIToolbox::Factored::FactorGraph< FD >::end

This function provides an editable interactor to the end of the internal factor list.

See also: factorsBegin()

Returns: An iterator to the end of the internal factor range.

◆ end() [2/2]

template<typename FactorData >

CFactorIt AIToolbox::Factored::FactorGraph< FactorData >::end ( ) const

This function provides a const interactor to the end of the internal factor list.

See also: factorsBegin() const

Returns: A const iterator to the end of the internal factor range.

◆ erase()

template<typename FD >

void AIToolbox::Factored::FactorGraph< FD >::erase ( size_t variable )

This function partially removes an variable from the graph.

This function removes the selected variable, and ALL factors associated with it.

Removing the same variable more than once does not do anything.

Parameters

variable The variable to be removed.

◆ factorSize()

template<typename FD >

size_t AIToolbox::Factored::FactorGraph< FD >::factorSize

This function returns the number of factors still in the graph.

Returns: The number of factors still in the graph.

◆ getFactor()

template<typename FD >

FactorGraph< FD >::FactorIt AIToolbox::Factored::FactorGraph< FD >::getFactor ( const Variables & variables )

This function returns an iterator to a factor adjacent to the given variables.

This function may return an iterator to an already existing factor, or if it didn't exist before, to a newly created one.

This means that it is safe to call this function multiple times with the same input, as only one factor will be created.

As factors are kept in a list, insertion is O(1).

Parameters

variables The variables the factor returned should be adjacent of.

Returns: An iterator to the desired factor.

◆ getFactors()

template<typename FD >

const FactorGraph< FD >::FactorItList & AIToolbox::Factored::FactorGraph< FD >::getFactors ( size_t variable ) const

This function returns all factors adjacent to the given variable.

Parameters

variable The variable to look for.

Returns: A list of iterators pointing at the factors adjacent to the given variable.

◆ getVariables() [1/4]

template<typename FD >

const FactorGraph< FD >::Variables & AIToolbox::Factored::FactorGraph< FD >::getVariables ( CFactorIt factor ) const

This function returns all variables adjacent to the given factor.

Parameters

factor A const iterator to the factor to look for.

Returns: A vector of variables adjacent to the given factor.

◆ getVariables() [2/4]

template<typename FD >

FactorGraph< FD >::Variables AIToolbox::Factored::FactorGraph< FD >::getVariables ( const FactorItList & factors ) const

This function returns all variables adjacent to any of the given factors.

This function is equivalent to calling the getNeighbors(FactorIt) function multiple times, and merging the results to eliminate duplicates.

Parameters

factors A list of iterators to the factors to look for.

Returns: A vector of variables adjacent to any of the given factors.

◆ getVariables() [3/4]

template<typename FD >

const FactorGraph< FD >::Variables & AIToolbox::Factored::FactorGraph< FD >::getVariables ( FactorIt factor ) const

This function returns all variables adjacent to the given factor.

Parameters

factor An iterator to the factor to look for.

Returns: A vector of variables adjacent to the given factor.

◆ getVariables() [4/4]

template<typename FD >

const FactorGraph< FD >::Variables & AIToolbox::Factored::FactorGraph< FD >::getVariables ( size_t variable ) const

This function returns all variables adjacent to a factor adjacent to the input variable.

Parameters

variable The variable to look for.

Returns: All other variables connected in some way to the input one.

◆ operator=()

template<typename FactorData >

FactorGraph& AIToolbox::Factored::FactorGraph< FactorData >::operator= ( const FactorGraph< FactorData > & )

delete

Deleted assignment operator.

Since we already provide a copy constructor, this is redundant. The assignment operator provided by default would be broken, so we remove it.

◆ reset()

template<typename FD >

void AIToolbox::Factored::FactorGraph< FD >::reset ( size_t variables )

This function re-initializes the graph from scratch as if it was just being built.

Parameters

variables The number of variables with which to start the graph.

◆ variableSize()

template<typename FD >

size_t AIToolbox::Factored::FactorGraph< FD >::variableSize

This function returns the number of variables still in the graph.

This function returns the number of active variables in the graph (that have not been explicitly eliminated via erase(size_t)).

Returns: The number of variables still in the graph.

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

include/AIToolbox/Factored/Utils/FactorGraph.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename FactorData> class AIToolbox::Factored::FactorGraph< FactorData >

Member Typedef Documentation

◆ CFactorIt

◆ const_iterator

◆ FactorIt

◆ FactorItList

◆ FactorList

◆ iterator

◆ value_type

◆ Variables

Constructor & Destructor Documentation

◆ FactorGraph() [1/2]

◆ FactorGraph() [2/2]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ bestVariableToRemove()

◆ cbegin()

◆ cend()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ factorSize()

◆ getFactor()

◆ getFactors()

◆ getVariables() [1/4]

◆ getVariables() [2/4]

◆ getVariables() [3/4]

◆ getVariables() [4/4]

◆ operator=()

◆ reset()

◆ variableSize()

template<typename FactorData>
class AIToolbox::Factored::FactorGraph< FactorData >