Inheritance diagram for Graph:

Public Member Functions
void	addCameraConstraint (int j, const GeneralCamera &p)

void	addCameraConstraint (int j, const GeneralCamera &p)

void	addMeasurement (const int &i, const int &j, const Point2 &z, const SharedNoiseModel &model)

void	addMeasurement (int i, int j, const Point2 &z, const SharedNoiseModel &model)

void	addPoint3Constraint (int j, const Point3 &p)

void	addPoint3Constraint (int j, const Point3 &p)

Public Member Functions inherited from gtsam::NonlinearFactorGraph
template<typename T >
void	addExpressionFactor (const SharedNoiseModel &R, const T &z, const Expression< T > &h)

template<typename T >
void	addPrior (Key key, const T &prior, const SharedNoiseModel &model=nullptr)

template<typename T >
void	addPrior (Key key, const T &prior, const Matrix &covariance)

NonlinearFactorGraph	clone () const
	Clone() performs a deep-copy of the graph, including all of the factors. More...

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

double	error (const Values &values) const

boost::shared_ptr< GaussianFactorGraph >	linearize (const Values &linearizationPoint) const
	Linearize a nonlinear factor graph. More...

boost::shared_ptr< HessianFactor >	linearizeToHessianFactor (const Values &values, const Dampen &dampen=nullptr) const

boost::shared_ptr< HessianFactor >	linearizeToHessianFactor (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const

boost::shared_ptr< HessianFactor >	linearizeToHessianFactor (const Values &values, boost::none_t, const Dampen &dampen=nullptr) const

	NonlinearFactorGraph ()

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

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

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

Ordering	orderingCOLAMD () const

Ordering	orderingCOLAMDConstrained (const FastMap< Key, int > &constraints) const

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

void	printErrors (const Values &values, const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter, const std::function< bool(const Factor , double, size_t)> &printCondition=[](const Factor , double, size_t){return true;}) const

double	probPrime (const Values &values) const

NonlinearFactorGraph	rekey (const std::map< Key, Key > &rekey_mapping) const

void	saveGraph (std::ostream &stm, const Values &values=Values(), const GraphvizFormatting &graphvizFormatting=GraphvizFormatting(), const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Write the graph in GraphViz format for visualization. More...

void	saveGraph (const std::string &file, const Values &values=Values(), const GraphvizFormatting &graphvizFormatting=GraphvizFormatting(), const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

boost::shared_ptr< SymbolicFactorGraph >	symbolic () const

Values	updateCholesky (const Values &values, const Dampen &dampen=nullptr) const

Values	updateCholesky (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const

Values	updateCholesky (const Values &values, boost::none_t, const Dampen &dampen=nullptr) const

virtual	~NonlinearFactorGraph ()
	Destructor. More...

Public Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
virtual	~FactorGraph ()=default
	Default destructor. More...

void	reserve (size_t size)

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

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type	operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)
	`+=` works well with boost::assign list inserter. 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)

boost::assign::list_inserter< CRefCallPushBack< 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

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

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

iterator	begin ()

iterator	end ()

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)

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Additional Inherited Members
Public Types inherited from gtsam::NonlinearFactorGraph
typedef FactorGraph< NonlinearFactor >	Base

typedef std::function< void(const boost::shared_ptr< HessianFactor > &hessianFactor)>	Dampen
	typdef for dampen functions used below More...

typedef boost::shared_ptr< This >	shared_ptr

typedef NonlinearFactorGraph	This

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

typedef NonlinearFactor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef boost::shared_ptr< NonlinearFactor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Protected Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

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

Detailed Description

Definition at line 51 of file testGeneralSFMFactor.cpp.

Member Function Documentation

void Graph::addCameraConstraint	(	int	j,
		const GeneralCamera &	p
	)

inline

Definition at line 57 of file testGeneralSFMFactor_Cal3Bundler.cpp.

void Graph::addCameraConstraint	(	int	j,
		const GeneralCamera &	p
	)

inline

Definition at line 58 of file testGeneralSFMFactor.cpp.

void Graph::addMeasurement	(	const int &	i,
		const int &	j,
		const Point2 &	z,
		const SharedNoiseModel &	model
	)

inline

Definition at line 52 of file testGeneralSFMFactor_Cal3Bundler.cpp.

void Graph::addMeasurement	(	int	i,
		int	j,
		const Point2 &	z,
		const SharedNoiseModel &	model
	)

inline

Definition at line 53 of file testGeneralSFMFactor.cpp.

void Graph::addPoint3Constraint	(	int	j,
		const Point3 &	p
	)

inline

Definition at line 62 of file testGeneralSFMFactor_Cal3Bundler.cpp.

void Graph::addPoint3Constraint	(	int	j,
		const Point3 &	p
	)

inline

Definition at line 63 of file testGeneralSFMFactor.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation