Inheritance diagram for Graph:

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

void	addCameraConstraint (int j, const GeneralCamera &p)

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

void	addMeasurement (const int &i, const 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
	NonlinearFactorGraph ()

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

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

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

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

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

void	dot (std::ostream &os, const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
	Output to graphviz format, stream version, with Values/extra options. More...

std::string	dot (const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
	Output to graphviz format string, with Values/extra options. More...

void	saveGraph (const std::string &filename, const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
	output to file with graphviz format, with Values/extra options. More...

double	error (const Values &values) const

double	probPrime (const Values &values) const

std::shared_ptr< SymbolicFactorGraph >	symbolic () const

Ordering	orderingCOLAMD () const

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

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

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

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

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

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

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

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

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)

Public Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
	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...

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)

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)

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

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

typedef std::shared_ptr< This >	shared_ptr

typedef NonlinearFactorGraph	This

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

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

typedef sharedFactor	value_type

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

Detailed Description

Definition at line 49 of file testGeneralSFMFactor.cpp.

Member Function Documentation

◆ addCameraConstraint() [1/2]

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

inline

Definition at line 56 of file testGeneralSFMFactor.cpp.

◆ addCameraConstraint() [2/2]

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

inline

Definition at line 57 of file testGeneralSFMFactor_Cal3Bundler.cpp.

◆ addMeasurement() [1/2]

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

inline

Definition at line 51 of file testGeneralSFMFactor.cpp.

◆ addMeasurement() [2/2]

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.

◆ addPoint3Constraint() [1/2]

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

inline

Definition at line 61 of file testGeneralSFMFactor.cpp.

◆ addPoint3Constraint() [2/2]

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

inline

Definition at line 62 of file testGeneralSFMFactor_Cal3Bundler.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addCameraConstraint() [1/2]

◆ addCameraConstraint() [2/2]

◆ addMeasurement() [1/2]

◆ addMeasurement() [2/2]

◆ addPoint3Constraint() [1/2]

◆ addPoint3Constraint() [2/2]