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54 template<
typename KEYS>
76 bool contains(
const Key&
key)
const;
92 template<
class FACTOR_GRAPH>
111 template<
class FACTOR_GRAPH>
113 const KeyVector& constrainLast,
bool forceOrder =
false) {
126 static Ordering ColamdConstrainedLast(
128 bool forceOrder =
false);
138 template<
class FACTOR_GRAPH>
140 const KeyVector& constrainFirst,
bool forceOrder =
false) {
154 static Ordering ColamdConstrainedFirst(
156 const KeyVector& constrainFirst,
bool forceOrder =
false);
167 template<
class FACTOR_GRAPH>
187 template<
class FACTOR_GRAPH>
191 std::stable_sort(
keys.begin(),
keys.end());
196 template<
class FACTOR_GRAPH>
197 static void CSRFormat(std::vector<int>&
xadj,
198 std::vector<int>& adj,
const FACTOR_GRAPH&
graph);
203 template<
class FACTOR_GRAPH>
216 template<
class FACTOR_GRAPH>
218 const FACTOR_GRAPH&
graph) {
222 switch (orderingType) {
224 return Colamd(
graph);
228 return Natural(
graph);
230 throw std::runtime_error(
231 "Ordering::Create error: called with CUSTOM ordering type.");
233 throw std::runtime_error(
234 "Ordering::Create error: called with unknown ordering type.");
253 const VariableIndex& variableIndex, std::vector<int>& cmember);
255 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
257 friend class boost::serialization::access;
258 template<
class ARCHIVE>
259 void serialize(ARCHIVE & ar,
const unsigned int version) {
260 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
static Ordering ColamdConstrainedLast(const FACTOR_GRAPH &graph, const KeyVector &constrainLast, bool forceOrder=false)
Eigen::CommaInitializer< XprType > & operator,(Eigen::CommaInitializer< XprType > &ci, double v)
Ordering This
Typedef to this class.
Ordering(const KEYS &keys)
Create from a container.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Ordering()
Create an empty ordering
static Ordering Create(OrderingType orderingType, const FACTOR_GRAPH &graph)
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
void print(const Matrix &A, const string &s, ostream &stream)
A thin wrapper around std::set that uses boost's fast_pool_allocator.
static Ordering ColamdConstrainedFirst(const FACTOR_GRAPH &graph, const KeyVector &constrainFirst, bool forceOrder=false)
static Ordering Colamd(const FACTOR_GRAPH &graph)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
static Ordering ColamdConstrained(const FACTOR_GRAPH &graph, const FastMap< Key, int > &groups)
const gtsam::Symbol key('X', 0)
OrderingType
Type of ordering to use.
static Ordering Metis(const FACTOR_GRAPH &graph)
static Ordering Natural(const FACTOR_GRAPH &fg)
Return a natural Ordering. Typically used by iterative solvers.
static const EIGEN_DEPRECATED end_t end
NonlinearFactorGraph graph
std::uint64_t Key
Integer nonlinear key type.
EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 & operator+=(bfloat16 &a, const bfloat16 &b)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:52