gtsam::utils Namespace Reference

Namespaces
	circlePose3
	logging_optimizer
	numerical_derivative
	plot
	test_case
	visual_data_generator
	visual_isam

Functions
def	findExampleDataFile (name)
template<class FACTOR >
std::vector< size_t >	kruskal (const FactorGraph< FACTOR > &fg, const std::vector< double > &weights)
std::vector< size_t >	sortedIndices (const std::vector< double > &weights)

Function Documentation

findExampleDataFile()

def gtsam.utils.findExampleDataFile

(

name

)

Find the example data file specified by `name`.

Definition at line 5 of file python/gtsam/utils/__init__.py.

kruskal()

template<class FACTOR >

std::vector< size_t > gtsam::utils::kruskal	(	const FactorGraph< FACTOR > &	fg,
		const std::vector< double > &	weights
	)

Compute the minimum spanning tree (MST) using Kruskal's algorithm

Parameters

fg	Factor graph
weights	Weights of the edges/factors in the factor graph

Returns

Edge/factor indices spanning the MST

Note

Only binary factors are considered while constructing the spanning tree

The indices of 'weights' should match the indices of the edges in the factor graph

Definition at line 55 of file kruskal-inl.h.

sortedIndices()

std::vector<size_t> gtsam::utils::sortedIndices ( const std::vector< double > &  weights )

inline

Definition at line 36 of file kruskal-inl.h.