#include <Ordering.h>

Inheritance diagram for gtsam::Ordering:

Public Types
enum	OrderingType { COLAMD, METIS, NATURAL, CUSTOM }
	Type of ordering to use. More...

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef Ordering	This
	Typedef to this class. More...

Public Member Functions
bool	contains (const Key &key) const
	Check if key exists in ordering. More...

FastMap< Key, size_t >	invert () const
	Invert (not reverse) the ordering - returns a map from key to order position. More...

This &	operator+= (Key key)

This &	operator+= (KeyVector &keys)
	Append new keys to the ordering as `ordering += keys`. More...

This &	operator, (Key key)
	Overloading the comma operator allows for chaining appends. More...

	Ordering ()
	Create an empty ordering More...

template<typename KEYS >
	Ordering (const KEYS &keys)
	Create from a container. More...

Testable
void	print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

bool	equals (const Ordering &other, double tol=1e-9) const

Static Public Member Functions
Fill-reducing Orderings
template<class FACTOR_GRAPH >
static Ordering	Colamd (const FACTOR_GRAPH &graph)

static Ordering	Colamd (const VariableIndex &variableIndex)
	Compute a fill-reducing ordering using COLAMD from a VariableIndex. More...

template<class FACTOR_GRAPH >
static Ordering	ColamdConstrainedLast (const FACTOR_GRAPH &graph, const KeyVector &constrainLast, bool forceOrder=false)

static Ordering	ColamdConstrainedLast (const VariableIndex &variableIndex, const KeyVector &constrainLast, bool forceOrder=false)

template<class FACTOR_GRAPH >
static Ordering	ColamdConstrainedFirst (const FACTOR_GRAPH &graph, const KeyVector &constrainFirst, bool forceOrder=false)

static Ordering	ColamdConstrainedFirst (const VariableIndex &variableIndex, const KeyVector &constrainFirst, bool forceOrder=false)

template<class FACTOR_GRAPH >
static Ordering	ColamdConstrained (const FACTOR_GRAPH &graph, const FastMap< Key, int > &groups)

static Ordering	ColamdConstrained (const VariableIndex &variableIndex, const FastMap< Key, int > &groups)

template<class FACTOR_GRAPH >
static Ordering	Natural (const FACTOR_GRAPH &fg)
	Return a natural Ordering. Typically used by iterative solvers. More...

template<class FACTOR_GRAPH >
static void	CSRFormat (std::vector< int > &xadj, std::vector< int > &adj, const FACTOR_GRAPH &graph)
	METIS Formatting function. More...

static Ordering	Metis (const MetisIndex &met)
	Compute an ordering determined by METIS from a VariableIndex. More...

template<class FACTOR_GRAPH >
static Ordering	Metis (const FACTOR_GRAPH &graph)

Named Constructors
template<class FACTOR_GRAPH >
static Ordering	Create (OrderingType orderingType, const FACTOR_GRAPH &graph)

Protected Types
typedef KeyVector	Base

Static Private Member Functions
static Ordering	ColamdConstrained (const VariableIndex &variableIndex, std::vector< int > &cmember)
	Internal COLAMD function. More...

Detailed Description

Definition at line 33 of file inference/Ordering.h.

Member Typedef Documentation

◆ Base

typedef KeyVector gtsam::Ordering::Base

protected

Definition at line 35 of file inference/Ordering.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::Ordering::shared_ptr

shared_ptr to this class

Definition at line 45 of file inference/Ordering.h.

◆ This

typedef Ordering gtsam::Ordering::This

Typedef to this class.

Definition at line 44 of file inference/Ordering.h.

Member Enumeration Documentation

◆ OrderingType

enum gtsam::Ordering::OrderingType

Type of ordering to use.

Enumerator
COLAMD
METIS
NATURAL
CUSTOM

Definition at line 40 of file inference/Ordering.h.

Constructor & Destructor Documentation

◆ Ordering() [1/2]

gtsam::Ordering::Ordering ( )

inline

Create an empty ordering

Definition at line 48 of file inference/Ordering.h.

◆ Ordering() [2/2]

template<typename KEYS >

gtsam::Ordering::Ordering ( const KEYS & keys )

inlineexplicit

Create from a container.

Definition at line 55 of file inference/Ordering.h.

Member Function Documentation

◆ Colamd() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::Colamd ( const FACTOR_GRAPH & graph )

inlinestatic

Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&)

Definition at line 93 of file inference/Ordering.h.

◆ Colamd() [2/2]

Ordering gtsam::Ordering::Colamd ( const VariableIndex & variableIndex )

static

Compute a fill-reducing ordering using COLAMD from a VariableIndex.

Definition at line 42 of file Ordering.cpp.

◆ ColamdConstrained() [1/3]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrained	(	const FACTOR_GRAPH &	graph,
		const FastMap< Key, int > &	groups
	)

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

Definition at line 168 of file inference/Ordering.h.

◆ ColamdConstrained() [2/3]

Ordering gtsam::Ordering::ColamdConstrained	(	const VariableIndex &	variableIndex,
		const FastMap< Key, int > &	groups
	)

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

Definition at line 187 of file Ordering.cpp.

◆ ColamdConstrained() [3/3]

Ordering gtsam::Ordering::ColamdConstrained	(	const VariableIndex &	variableIndex,
		std::vector< int > &	cmember
	)

staticprivate

Internal COLAMD function.

Definition at line 49 of file Ordering.cpp.

◆ ColamdConstrainedFirst() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrainedFirst	(	const FACTOR_GRAPH &	graph,
		const KeyVector &	constrainFirst,
		bool	forceOrder = `false`
	)

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 139 of file inference/Ordering.h.

◆ ColamdConstrainedFirst() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedFirst	(	const VariableIndex &	variableIndex,
		const KeyVector &	constrainFirst,
		bool	forceOrder = `false`
	)

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This function constrains the variables in constrainFirst to the front of the ordering, and orders all other variables after in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 154 of file Ordering.cpp.

◆ ColamdConstrainedLast() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::ColamdConstrainedLast	(	const FACTOR_GRAPH &	graph,
		const KeyVector &	constrainLast,
		bool	forceOrder = `false`
	)

inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 112 of file inference/Ordering.h.

◆ ColamdConstrainedLast() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedLast	(	const VariableIndex &	variableIndex,
		const KeyVector &	constrainLast,
		bool	forceOrder = `false`
	)

static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 127 of file Ordering.cpp.

◆ contains()

bool gtsam::Ordering::contains ( const Key & key ) const

Check if key exists in ordering.

Definition at line 303 of file Ordering.cpp.

◆ Create()

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::Create	(	OrderingType	orderingType,
		const FACTOR_GRAPH &	graph
	)

inlinestatic

Definition at line 217 of file inference/Ordering.h.

◆ CSRFormat()

template<class FACTOR_GRAPH >

static void gtsam::Ordering::CSRFormat	(	std::vector< int > &	xadj,
		std::vector< int > &	adj,
		const FACTOR_GRAPH &	graph
	)

static

METIS Formatting function.

◆ equals()

bool gtsam::Ordering::equals	(	const Ordering &	other,
		double	tol = `1e-9`
	)		const

Definition at line 308 of file Ordering.cpp.

◆ invert()

FastMap< Key, size_t > gtsam::Ordering::invert ( ) const

Invert (not reverse) the ordering - returns a map from key to order position.

Returns: FastMap<Key, size_t>

Definition at line 34 of file Ordering.cpp.

◆ Metis() [1/2]

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::Metis ( const FACTOR_GRAPH & graph )

inlinestatic

Definition at line 204 of file inference/Ordering.h.

◆ Metis() [2/2]

Ordering gtsam::Ordering::Metis ( const MetisIndex & met )

static

Compute an ordering determined by METIS from a VariableIndex.

Definition at line 210 of file Ordering.cpp.

◆ Natural()

template<class FACTOR_GRAPH >

static Ordering gtsam::Ordering::Natural ( const FACTOR_GRAPH & fg )

inlinestatic

Return a natural Ordering. Typically used by iterative solvers.

Definition at line 188 of file inference/Ordering.h.

◆ operator+=() [1/2]

Ordering::This & gtsam::Ordering::operator+= ( Key key )

Add new variables to the ordering as ordering += key1, key2, ....

Definition at line 285 of file Ordering.cpp.

◆ operator+=() [2/2]

Ordering::This & gtsam::Ordering::operator+= ( KeyVector & keys )

Append new keys to the ordering as ordering += keys.

Parameters

keys	The key vector to append to this ordering.

Returns: The ordering variable with appended keys.

Definition at line 297 of file Ordering.cpp.

◆ operator,()

Ordering::This & gtsam::Ordering::operator, ( Key key )

Overloading the comma operator allows for chaining appends.

Definition at line 291 of file Ordering.cpp.

◆ print()

void gtsam::Ordering::print	(	const std::string &	str = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

Definition at line 258 of file Ordering.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Static Private Member Functions

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Member Enumeration Documentation

◆ OrderingType

Constructor & Destructor Documentation

◆ Ordering() [1/2]

◆ Ordering() [2/2]

Member Function Documentation

◆ Colamd() [1/2]

◆ Colamd() [2/2]

◆ ColamdConstrained() [1/3]

◆ ColamdConstrained() [2/3]

◆ ColamdConstrained() [3/3]

◆ ColamdConstrainedFirst() [1/2]

◆ ColamdConstrainedFirst() [2/2]

◆ ColamdConstrainedLast() [1/2]

◆ ColamdConstrainedLast() [2/2]

◆ contains()

◆ Create()

◆ CSRFormat()

◆ equals()

◆ invert()

◆ Metis() [1/2]

◆ Metis() [2/2]

◆ Natural()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator,()

◆ print()