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30 void DotWriter::graphPreamble(ostream*
os)
const {
32 *
os <<
" size=\"" << figureWidthInches <<
"," << figureHeightInches
36 void DotWriter::digraphPreamble(ostream*
os)
const {
38 *
os <<
" size=\"" << figureWidthInches <<
"," << figureHeightInches
43 const std::optional<Vector2>&
position,
46 *
os <<
" var" <<
key <<
"[label=\"" << keyFormatter(
key)
51 if (boxes.count(
key)) {
57 void DotWriter::DrawFactor(
size_t i,
const std::optional<Vector2>&
position,
59 *
os <<
" factor" <<
i <<
"[label=\"\", shape=point";
68 *
os <<
" var" <<
key1 <<
"--"
69 <<
"var" <<
key2 <<
";\n";
73 size_t i, ostream*
os) {
74 *
os <<
" var" <<
key <<
"--"
75 <<
"factor" <<
i <<
";\n";
79 std::optional<Vector2> DotWriter::variablePos(
Key key)
const {
80 std::optional<Vector2>
result = {};
84 auto hint = positionHints.find(
symbol.chr());
85 if (hint != positionHints.end()) {
90 auto pos = variablePositions.find(
key);
91 if (
pos != variablePositions.end()) {
100 const std::optional<Vector2>&
position,
102 if (plotFactorPoints) {
103 if (binaryEdges &&
keys.size() == 2) {
107 if (!
position && factorPositions.count(
i))
108 DrawFactor(
i, factorPositions.at(
i),
os);
113 if (connectKeysToFactor) {
const Symbol key1('v', 1)
typedef and functions to augment Eigen's VectorXd
static void ConnectVariableFactor(Key key, const KeyFormatter &keyFormatter, size_t i, ostream *os)
ofstream os("timeSchurFactors.csv")
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
const Symbol key2('v', 2)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Key symbol(unsigned char c, std::uint64_t j)
const gtsam::Symbol key('X', 0)
static void ConnectVariables(Key key1, Key key2, const KeyFormatter &keyFormatter, ostream *os)
Point3 position(const NavState &X, OptionalJacobian< 3, 9 > H)
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:14