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67 double figureHeightInches = 5,
68 bool plotFactorPoints =
true,
69 bool connectKeysToFactor =
true,
bool binaryEdges =
false)
70 : figureWidthInches(figureWidthInches),
71 figureHeightInches(figureHeightInches),
72 plotFactorPoints(plotFactorPoints),
73 connectKeysToFactor(connectKeysToFactor),
74 binaryEdges(binaryEdges) {}
77 void graphPreamble(std::ostream*
os)
const;
80 void digraphPreamble(std::ostream*
os)
const;
84 const std::optional<Vector2>&
position,
85 std::ostream*
os)
const;
88 static void DrawFactor(
size_t i,
const std::optional<Vector2>&
position,
92 std::optional<Vector2> variablePos(
Key key)
const;
97 const std::optional<Vector2>&
position,
98 std::ostream*
os)
const;
std::map< char, double > positionHints
std::map< Key, Vector2 > variablePositions
typedef and functions to augment Eigen's VectorXd
A thin wrapper around std::vector that uses a custom allocator.
Point3_ position(const NavState_ &X)
ofstream os("timeSchurFactors.csv")
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
double figureHeightInches
The figure height on paper in inches.
double figureWidthInches
The figure width on paper in inches.
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
const gtsam::Symbol key('X', 0)
bool plotFactorPoints
Plots each factor as a dot between the variables.
std::uint64_t Key
Integer nonlinear key type.
DotWriter is a helper class for writing graphviz .dot files.
std::map< size_t, Vector2 > factorPositions
DotWriter(double figureWidthInches=5, double figureHeightInches=5, bool plotFactorPoints=true, bool connectKeysToFactor=true, bool binaryEdges=false)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:27