#include <SymbolicFactorGraph.h>

Inheritance diagram for gtsam::SymbolicFactorGraph:

Public Types
typedef FactorGraph< SymbolicFactor >	Base
	Typedef to base factor graph type. More...

typedef EliminateableFactorGraph< This >	BaseEliminateable
	Typedef to base elimination class. More...

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

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

Public Types inherited from gtsam::FactorGraph< SymbolicFactor >
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef SymbolicFactor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef std::shared_ptr< SymbolicFactor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Types inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph >
typedef EliminationTraitsType::BayesNetType	BayesNetType
	Bayes net type produced by sequential elimination. More...

typedef EliminationTraitsType::BayesTreeType	BayesTreeType
	Bayes tree type produced by multifrontal elimination. More...

typedef EliminationTraitsType::ConditionalType	ConditionalType
	Conditional type stored in the Bayes net produced by elimination. More...

typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)>	Eliminate
	The function type that does a single dense elimination step on a subgraph. More...

typedef std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< _FactorType > >	EliminationResult

typedef EliminationTraits< FactorGraphType >	EliminationTraitsType
	Typedef to the specific EliminationTraits for this graph. More...

typedef EliminationTraitsType::EliminationTreeType	EliminationTreeType
	Elimination tree type that can do sequential elimination of this graph. More...

typedef EliminationTraitsType::JunctionTreeType	JunctionTreeType
	Junction tree type that can do multifrontal elimination of this graph. More...

typedef std::optional< Ordering::OrderingType >	OptionalOrderingType
	Typedef for an optional ordering type. More...

typedef std::optional< std::reference_wrapper< const VariableIndex > >	OptionalVariableIndex

Standard Constructors
	SymbolicFactorGraph ()

template<typename ITERATOR >
	SymbolicFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

template<class CONTAINER >
	SymbolicFactorGraph (const CONTAINER &factors)

template<class DERIVEDFACTOR >
	SymbolicFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

	SymbolicFactorGraph (std::initializer_list< std::shared_ptr< SymbolicFactor >> sharedFactors)

	SymbolicFactorGraph (SymbolicFactor &&c)
	Construct from a single factor. More...

SymbolicFactorGraph &	operator() (SymbolicFactor &&c)
	Add a single factor and return a reference. This allows for chaining, e.g., SymbolicFactorGraph bn = SymbolicFactorGraph(SymbolicFactor(...))(SymbolicFactor(...));. More...

Testable
bool	equals (const This &fg, double tol=1e-9) const

void	print (const std::string &s="SymbolicFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print More...

Standard Interface
void	push_factor (Key key)

void	push_factor (Key key1, Key key2)

void	push_factor (Key key1, Key key2, Key key3)

void	push_factor (Key key1, Key key2, Key key3, Key key4)

Additional Inherited Members
Public Member Functions inherited from gtsam::FactorGraph< SymbolicFactor >
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

virtual	~FactorGraph ()=default

void	reserve (size_t size)

IsDerived< DERIVEDFACTOR >	push_back (std::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr. More...

IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&... args)
	Emplace a shared pointer to factor of given type. More...

IsDerived< DERIVEDFACTOR >	add (std::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator+= (std::shared_ptr< DERIVEDFACTOR > factor)
	Append factor to factor graph. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator, (std::shared_ptr< DERIVEDFACTOR > factor)
	Overload comma operator to allow for append chaining. More...

HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied) More...

HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied). More...

void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

This &	operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)

std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance. More...

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

std::shared_ptr< F >	at (size_t i)

const std::shared_ptr< F >	at (size_t i) const
	Const version of templated `at` method. More...

const sharedFactor	operator[] (size_t i) const

sharedFactor &	operator[] (size_t i)

const_iterator	begin () const

const_iterator	end () const

sharedFactor	front () const

sharedFactor	back () const

double	error (const HybridValues &values) const

iterator	begin ()

iterator	end ()

virtual void	resize (size_t size)

void	remove (size_t i)

void	replace (size_t index, sharedFactor factor)

iterator	erase (iterator item)

iterator	erase (iterator first, iterator last)

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format. More...

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Public Member Functions inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph >
std::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

Protected Member Functions inherited from gtsam::FactorGraph< SymbolicFactor >
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

Protected Attributes inherited from gtsam::FactorGraph< SymbolicFactor >
FastVector< sharedFactor >	factors_

Detailed Description

Symbolic Factor Graph

Definition at line 61 of file SymbolicFactorGraph.h.

Member Typedef Documentation

◆ Base

typedef FactorGraph<SymbolicFactor> gtsam::SymbolicFactorGraph::Base

Typedef to base factor graph type.

Definition at line 68 of file SymbolicFactorGraph.h.

◆ BaseEliminateable

typedef EliminateableFactorGraph<This> gtsam::SymbolicFactorGraph::BaseEliminateable

Typedef to base elimination class.

Definition at line 69 of file SymbolicFactorGraph.h.

◆ shared_ptr

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

shared_ptr to this class

Definition at line 70 of file SymbolicFactorGraph.h.

◆ This

typedef SymbolicFactorGraph gtsam::SymbolicFactorGraph::This

Typedef to this class.

Definition at line 67 of file SymbolicFactorGraph.h.

Constructor & Destructor Documentation

◆ SymbolicFactorGraph() [1/6]

gtsam::SymbolicFactorGraph::SymbolicFactorGraph ( )

inline

Construct empty factor graph

Definition at line 76 of file SymbolicFactorGraph.h.

◆ SymbolicFactorGraph() [2/6]

template<typename ITERATOR >

gtsam::SymbolicFactorGraph::SymbolicFactorGraph	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Construct from iterator over factors

Definition at line 80 of file SymbolicFactorGraph.h.

◆ SymbolicFactorGraph() [3/6]

template<class CONTAINER >

gtsam::SymbolicFactorGraph::SymbolicFactorGraph ( const CONTAINER & factors )

inlineexplicit

Construct from container of factors (shared_ptr or plain objects)

Definition at line 84 of file SymbolicFactorGraph.h.

◆ SymbolicFactorGraph() [4/6]

template<class DERIVEDFACTOR >

gtsam::SymbolicFactorGraph::SymbolicFactorGraph ( const FactorGraph< DERIVEDFACTOR > & graph )

inline

Implicit copy/downcast constructor to override explicit template container constructor

Definition at line 88 of file SymbolicFactorGraph.h.

◆ SymbolicFactorGraph() [5/6]

gtsam::SymbolicFactorGraph::SymbolicFactorGraph ( std::initializer_list< std::shared_ptr< SymbolicFactor >> sharedFactors )

inline

Constructor that takes an initializer list of shared pointers. FactorGraph fg = {make_shared<MyFactor>(), ...};

Definition at line 94 of file SymbolicFactorGraph.h.

◆ SymbolicFactorGraph() [6/6]

gtsam::SymbolicFactorGraph::SymbolicFactorGraph ( SymbolicFactor && c )

inline

Construct from a single factor.

Definition at line 99 of file SymbolicFactorGraph.h.

Member Function Documentation

◆ equals()

bool gtsam::SymbolicFactorGraph::equals	(	const This &	fg,
		double	tol = `1e-9`
	)		const

Definition at line 36 of file SymbolicFactorGraph.cpp.

◆ operator()()

SymbolicFactorGraph& gtsam::SymbolicFactorGraph::operator() ( SymbolicFactor && c )

inline

Add a single factor and return a reference. This allows for chaining, e.g., SymbolicFactorGraph bn = SymbolicFactorGraph(SymbolicFactor(...))(SymbolicFactor(...));.

Definition at line 109 of file SymbolicFactorGraph.h.

◆ print()

void gtsam::SymbolicFactorGraph::print	(	const std::string &	s = `"SymbolicFactorGraph"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::FactorGraph< SymbolicFactor >.

Definition at line 122 of file SymbolicFactorGraph.h.

◆ push_factor() [1/4]

void gtsam::SymbolicFactorGraph::push_factor ( Key key )

Push back unary factor

Definition at line 42 of file SymbolicFactorGraph.cpp.

◆ push_factor() [2/4]

void gtsam::SymbolicFactorGraph::push_factor	(	Key	key1,
		Key	key2
	)

Push back binary factor

Definition at line 47 of file SymbolicFactorGraph.cpp.

◆ push_factor() [3/4]

void gtsam::SymbolicFactorGraph::push_factor	(	Key	key1,
		Key	key2,
		Key	key3
	)

Push back ternary factor

Definition at line 52 of file SymbolicFactorGraph.cpp.

◆ push_factor() [4/4]

void gtsam::SymbolicFactorGraph::push_factor	(	Key	key1,
		Key	key2,
		Key	key3,
		Key	key4
	)

Push back 4-way factor

Definition at line 57 of file SymbolicFactorGraph.cpp.

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

Public Types

Standard Constructors

Testable

Standard Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ BaseEliminateable

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ SymbolicFactorGraph() [1/6]

◆ SymbolicFactorGraph() [2/6]

◆ SymbolicFactorGraph() [3/6]

◆ SymbolicFactorGraph() [4/6]

◆ SymbolicFactorGraph() [5/6]

◆ SymbolicFactorGraph() [6/6]

Member Function Documentation

◆ equals()

◆ operator()()

◆ print()

◆ push_factor() [1/4]

◆ push_factor() [2/4]

◆ push_factor() [3/4]

◆ push_factor() [4/4]