#include <BayesTree.h>

Public Types
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef FACTOR	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

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

typedef sharedFactor	value_type

Protected Member Functions
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

Protected Attributes
FastVector< sharedFactor >	factors_

Private Types
template<typename T >
using	HasDerivedElementType = typename std::enable_if< std::is_base_of< FactorType, typename T::value_type::element_type >::value >::type
	Check if T has a pointer type derived from FactorType. More...

template<typename T >
using	HasDerivedValueType = typename std::enable_if< std::is_base_of< FactorType, typename T::value_type >::value >::type
	Check if T has a value_type derived from FactorType. More...

template<typename DERIVEDFACTOR >
using	IsDerived = typename std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type
	Check if a DERIVEDFACTOR is in fact derived from FactorType. More...

typedef std::shared_ptr< This >	shared_ptr
	Shared pointer for this class. More...

typedef FactorGraph< FACTOR >	This
	Typedef for this class. More...

Standard Constructors
	FactorGraph ()

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

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

Constructors
virtual	~FactorGraph ()=default

template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>>
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

Adding Single Factors
void	reserve (size_t size)

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

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

template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

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

Adding via iterators
template<typename ITERATOR >
HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

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

Adding via container
template<typename CONTAINER >
HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

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

template<class FACTOR_OR_CONTAINER >
void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

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

template<typename CONTAINER , typename = HasDerivedElementType<CONTAINER>>
FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

Testable
virtual void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print out graph to std::cout, with optional key formatter. More...

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

Standard Interface
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

Modifying Factor Graphs (imperative, discouraged)
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)

Graph Display
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...

Advanced Interface
size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Detailed Description

template<class FACTOR>
class gtsam::FactorGraph< FACTOR >

A factor graph is a bipartite graph with factor nodes connected to variable nodes. In this class, however, only factor nodes are kept around.

Definition at line 34 of file BayesTree.h.

Member Typedef Documentation

◆ const_iterator

template<class FACTOR>

typedef FastVector<sharedFactor>::const_iterator gtsam::FactorGraph< FACTOR >::const_iterator

Definition at line 108 of file FactorGraph.h.

◆ FactorType

template<class FACTOR>

typedef FACTOR gtsam::FactorGraph< FACTOR >::FactorType

factor type

Definition at line 103 of file FactorGraph.h.

◆ HasDerivedElementType

template<class FACTOR>

template<typename T >

using gtsam::FactorGraph< FACTOR >::HasDerivedElementType = typename std::enable_if<std::is_base_of< FactorType, typename T::value_type::element_type>::value>::type

private

Check if T has a pointer type derived from FactorType.

Definition at line 128 of file FactorGraph.h.

◆ HasDerivedValueType

template<class FACTOR>

template<typename T >

using gtsam::FactorGraph< FACTOR >::HasDerivedValueType = typename std::enable_if< std::is_base_of<FactorType, typename T::value_type>::value>::type

private

Check if T has a value_type derived from FactorType.

Definition at line 123 of file FactorGraph.h.

◆ IsDerived

template<class FACTOR>

template<typename DERIVEDFACTOR >

using gtsam::FactorGraph< FACTOR >::IsDerived = typename std::enable_if< std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type

private

Check if a DERIVEDFACTOR is in fact derived from FactorType.

Definition at line 118 of file FactorGraph.h.

◆ iterator

template<class FACTOR>

typedef FastVector<sharedFactor>::iterator gtsam::FactorGraph< FACTOR >::iterator

Definition at line 107 of file FactorGraph.h.

◆ shared_ptr

template<class FACTOR>

typedef std::shared_ptr<This> gtsam::FactorGraph< FACTOR >::shared_ptr

private

Shared pointer for this class.

Definition at line 113 of file FactorGraph.h.

◆ sharedFactor

template<class FACTOR>

typedef std::shared_ptr<FACTOR> gtsam::FactorGraph< FACTOR >::sharedFactor

Shared pointer to a factor.

Definition at line 105 of file FactorGraph.h.

◆ This

template<class FACTOR>

typedef FactorGraph<FACTOR> gtsam::FactorGraph< FACTOR >::This

private

Typedef for this class.

Definition at line 111 of file FactorGraph.h.

◆ value_type

template<class FACTOR>

typedef sharedFactor gtsam::FactorGraph< FACTOR >::value_type

Definition at line 106 of file FactorGraph.h.

Constructor & Destructor Documentation

◆ FactorGraph() [1/4]

template<class FACTOR>

gtsam::FactorGraph< FACTOR >::FactorGraph ( )

inlineprotected

Default constructor

Definition at line 146 of file FactorGraph.h.

◆ FactorGraph() [2/4]

template<class FACTOR>

template<typename ITERATOR >

gtsam::FactorGraph< FACTOR >::FactorGraph	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inlineprotected

Constructor from iterator over factors (shared_ptr or plain objects)

Definition at line 150 of file FactorGraph.h.

◆ FactorGraph() [3/4]

template<class FACTOR>

template<class CONTAINER >

gtsam::FactorGraph< FACTOR >::FactorGraph ( const CONTAINER & factors )

inlineexplicitprotected

Construct from container of factors (shared_ptr or plain objects)

Definition at line 156 of file FactorGraph.h.

◆ ~FactorGraph()

template<class FACTOR>

virtual gtsam::FactorGraph< FACTOR >::~FactorGraph ( )

virtualdefault

Default destructor Public and virtual so boost serialization can call it.

◆ FactorGraph() [4/4]

template<class FACTOR>

template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>>

gtsam::FactorGraph< FACTOR >::FactorGraph ( std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors )

inline

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

Definition at line 175 of file FactorGraph.h.

Member Function Documentation

◆ add() [1/2]

template<class FACTOR>

template<class DERIVEDFACTOR >

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< FACTOR >::add ( std::shared_ptr< DERIVEDFACTOR > factor )

inline

add is a synonym for push_back.

Definition at line 214 of file FactorGraph.h.

◆ add() [2/2]

template<class FACTOR>

template<class FACTOR_OR_CONTAINER >

void gtsam::FactorGraph< FACTOR >::add ( const FACTOR_OR_CONTAINER & factorOrContainer )

inline

Add a factor or container of factors, including STL collections, BayesTrees, etc.

Definition at line 275 of file FactorGraph.h.

◆ add_factors()

template<class FACTOR >

template<typename CONTAINER , typename >

FactorIndices gtsam::FactorGraph< FACTOR >::add_factors	(	const CONTAINER &	factors,
		bool	useEmptySlots = `false`
	)

Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.

Definition at line 109 of file FactorGraph-inst.h.

◆ at() [1/2]

template<class FACTOR>

const sharedFactor gtsam::FactorGraph< FACTOR >::at ( size_t i ) const

inline

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

Definition at line 343 of file FactorGraph.h.

◆ at() [2/2]

template<class FACTOR>

sharedFactor& gtsam::FactorGraph< FACTOR >::at ( size_t i )

inline

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

Definition at line 348 of file FactorGraph.h.

◆ back()

template<class FACTOR>

sharedFactor gtsam::FactorGraph< FACTOR >::back ( ) const

inline

Get the last factor

Definition at line 370 of file FactorGraph.h.

◆ begin() [1/2]

template<class FACTOR>

const_iterator gtsam::FactorGraph< FACTOR >::begin ( ) const

inline

Iterator to beginning of factors.

Definition at line 361 of file FactorGraph.h.

◆ begin() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::begin ( )

inline

non-const STL-style begin()

Definition at line 380 of file FactorGraph.h.

◆ dot() [1/2]

template<class FACTOR >

void gtsam::FactorGraph< FACTOR >::dot	(	std::ostream &	os,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const DotWriter &	writer = `DotWriter()`
	)		const

Output to graphviz format, stream version.

Definition at line 141 of file FactorGraph-inst.h.

◆ dot() [2/2]

template<class FACTOR >

std::string gtsam::FactorGraph< FACTOR >::dot	(	const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const DotWriter &	writer = `DotWriter()`
	)		const

Output to graphviz format string.

Definition at line 168 of file FactorGraph-inst.h.

◆ emplace_shared()

template<class FACTOR>

template<class DERIVEDFACTOR , class... Args>

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< FACTOR >::emplace_shared ( Args &&... args )

inline

Emplace a shared pointer to factor of given type.

Definition at line 196 of file FactorGraph.h.

◆ empty()

template<class FACTOR>

bool gtsam::FactorGraph< FACTOR >::empty ( ) const

inline

Check if the graph is empty (null factors set by remove() will cause this to return false).

Definition at line 338 of file FactorGraph.h.

◆ end() [1/2]

template<class FACTOR>

const_iterator gtsam::FactorGraph< FACTOR >::end ( ) const

inline

Iterator to end of factors.

Definition at line 364 of file FactorGraph.h.

◆ end() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::end ( )

inline

non-const STL-style end()

Definition at line 383 of file FactorGraph.h.

◆ equals()

template<class FACTOR >

bool gtsam::FactorGraph< FACTOR >::equals	(	const This &	fg,
		double	tol = `1e-9`
	)		const

Check equality up to tolerance.

Definition at line 50 of file FactorGraph-inst.h.

◆ erase() [1/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::erase ( iterator item )

inline

Erase factor and rearrange other factors to take up the empty space

Definition at line 399 of file FactorGraph.h.

◆ erase() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::erase	(	iterator	first,
		iterator	last
	)

inline

Erase factors and rearrange other factors to take up the empty space

Definition at line 402 of file FactorGraph.h.

◆ error()

template<class FACTOR >

double gtsam::FactorGraph< FACTOR >::error ( const HybridValues & values ) const

Add error for all factors.

Definition at line 66 of file FactorGraph-inst.h.

◆ exists()

template<class FACTOR>

bool gtsam::FactorGraph< FACTOR >::exists ( size_t idx ) const

inline

MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer

Definition at line 442 of file FactorGraph.h.

◆ front()

template<class FACTOR>

sharedFactor gtsam::FactorGraph< FACTOR >::front ( ) const

inline

Get the first factor

Definition at line 367 of file FactorGraph.h.

◆ isEqual()

template<class FACTOR>

bool gtsam::FactorGraph< FACTOR >::isEqual ( const FactorGraph< FACTOR > & other ) const

inlineprotected

Check exact equality of the factor pointers. Useful for derived ==.

Definition at line 138 of file FactorGraph.h.

◆ keys()

template<class FACTOR >

KeySet gtsam::FactorGraph< FACTOR >::keys ( ) const

Potentially slow function to return all keys involved, sorted, as a set

Definition at line 85 of file FactorGraph-inst.h.

◆ keyVector()

template<class FACTOR >

KeyVector gtsam::FactorGraph< FACTOR >::keyVector ( ) const

Potentially slow function to return all keys involved, sorted, as a vector

Definition at line 95 of file FactorGraph-inst.h.

◆ nrFactors()

template<class FACTOR >

size_t gtsam::FactorGraph< FACTOR >::nrFactors ( ) const

return the number of non-null factors

Definition at line 76 of file FactorGraph-inst.h.

◆ operator[]() [1/2]

template<class FACTOR>

const sharedFactor gtsam::FactorGraph< FACTOR >::operator[] ( size_t i ) const

inline

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

Definition at line 353 of file FactorGraph.h.

◆ operator[]() [2/2]

template<class FACTOR>

sharedFactor& gtsam::FactorGraph< FACTOR >::operator[] ( size_t i )

inline

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

Definition at line 358 of file FactorGraph.h.

◆ print()

template<class FACTOR >

void gtsam::FactorGraph< FACTOR >::print	(	const std::string &	s = `"FactorGraph< FACTOR >"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

Print out graph to std::cout, with optional key formatter.

Reimplemented in gtsam::DiscreteFactorGraph, gtsam::Scheduler, gtsam::SymbolicFactorGraph, gtsam::SymbolicBayesNet, gtsam::GaussianBayesNet, gtsam::NonlinearFactorGraph, gtsam::BayesNet< CONDITIONAL >, gtsam::BayesNet< SymbolicConditional >, gtsam::BayesNet< GaussianConditional >, gtsam::BayesNet< DiscreteConditional >, gtsam::BayesNet< HybridConditional >, gtsam::BayesNet< DiscreteLookupTable >, gtsam::HybridNonlinearFactorGraph, gtsam::HybridBayesNet, and gtsam::InequalityFactorGraph.

Definition at line 37 of file FactorGraph-inst.h.

◆ push_back() [1/7]

template<class FACTOR>

template<class DERIVEDFACTOR >

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< FACTOR >::push_back ( std::shared_ptr< DERIVEDFACTOR > factor )

inline

Add a factor directly using a shared_ptr.

Definition at line 190 of file FactorGraph.h.

◆ push_back() [2/7]

template<class FACTOR>

template<class DERIVEDFACTOR >

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< FACTOR >::push_back ( const DERIVEDFACTOR & factor )

inline

Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).

Definition at line 207 of file FactorGraph.h.

◆ push_back() [3/7]

template<class FACTOR>

template<typename ITERATOR >

HasDerivedElementType<ITERATOR> gtsam::FactorGraph< FACTOR >::push_back	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Push back many factors with an iterator over shared_ptr (factors are not copied)

Definition at line 239 of file FactorGraph.h.

◆ push_back() [4/7]

template<class FACTOR>

template<typename ITERATOR >

HasDerivedValueType<ITERATOR> gtsam::FactorGraph< FACTOR >::push_back	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Push back many factors with an iterator (factors are copied)

Definition at line 246 of file FactorGraph.h.

◆ push_back() [5/7]

template<class FACTOR>

template<typename CONTAINER >

HasDerivedElementType<CONTAINER> gtsam::FactorGraph< FACTOR >::push_back ( const CONTAINER & container )

inline

Push back many factors as shared_ptr's in a container (factors are not copied)

Definition at line 260 of file FactorGraph.h.

◆ push_back() [6/7]

template<class FACTOR>

template<typename CONTAINER >

HasDerivedValueType<CONTAINER> gtsam::FactorGraph< FACTOR >::push_back ( const CONTAINER & container )

inline

Push back non-pointer objects in a container (factors are copied).

Definition at line 266 of file FactorGraph.h.

◆ push_back() [7/7]

template<class FACTOR>

template<class CLIQUE >

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

inline

Push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived classes in favor of a type-specialized version that calls this templated function.

Definition at line 304 of file FactorGraph.h.

◆ remove()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::remove ( size_t i )

inline

delete factor without re-arranging indexes by inserting a nullptr pointer

Definition at line 393 of file FactorGraph.h.

◆ replace()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::replace	(	size_t	index,
		sharedFactor	factor
	)

inline

replace a factor by index

Definition at line 396 of file FactorGraph.h.

◆ reserve()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::reserve ( size_t size )

inline

Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).

Definition at line 186 of file FactorGraph.h.

◆ resize()

template<class FACTOR>

virtual void gtsam::FactorGraph< FACTOR >::resize ( size_t size )

inlinevirtual

Directly resize the number of factors in the graph. If the new size is less than the original, factors at the end will be removed. If the new size is larger than the original, null factors will be appended.

Definition at line 389 of file FactorGraph.h.

◆ saveGraph()

template<class FACTOR >

void gtsam::FactorGraph< FACTOR >::saveGraph	(	const std::string &	filename,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`,
		const DotWriter &	writer = `DotWriter()`
	)		const

output to file with graphviz format.

Definition at line 177 of file FactorGraph-inst.h.

◆ size()

template<class FACTOR>

size_t gtsam::FactorGraph< FACTOR >::size ( ) const

inline

return the number of factors (including any null factors set by remove() ).

Definition at line 334 of file FactorGraph.h.

Member Data Documentation

◆ factors_

template<class FACTOR>

FastVector<sharedFactor> gtsam::FactorGraph< FACTOR >::factors_

protected

concept check, makes sure FACTOR defines print and equals Collection of factors

Definition at line 135 of file FactorGraph.h.

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

Public Types

Protected Member Functions

Protected Attributes

Private Types

Standard Constructors

Constructors

Adding Single Factors

Adding via iterators

Adding via container

Specialized versions

Testable

Standard Interface

Modifying Factor Graphs (imperative, discouraged)

Graph Display

Advanced Interface

Detailed Description

template<class FACTOR> class gtsam::FactorGraph< FACTOR >

Member Typedef Documentation

◆ const_iterator

◆ FactorType

◆ HasDerivedElementType

◆ HasDerivedValueType

◆ IsDerived

◆ iterator

◆ shared_ptr

◆ sharedFactor

◆ This

◆ value_type

Constructor & Destructor Documentation

◆ FactorGraph() [1/4]

◆ FactorGraph() [2/4]

◆ FactorGraph() [3/4]

◆ ~FactorGraph()

◆ FactorGraph() [4/4]

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ add_factors()

◆ at() [1/2]

◆ at() [2/2]

◆ back()

◆ begin() [1/2]

◆ begin() [2/2]

◆ dot() [1/2]

◆ dot() [2/2]

◆ emplace_shared()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ erase() [1/2]

◆ erase() [2/2]

◆ error()

◆ exists()

◆ front()

◆ isEqual()

◆ keys()

◆ keyVector()

◆ nrFactors()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print()

◆ push_back() [1/7]

◆ push_back() [2/7]

◆ push_back() [3/7]

◆ push_back() [4/7]

◆ push_back() [5/7]

◆ push_back() [6/7]

◆ push_back() [7/7]

◆ remove()

◆ replace()

◆ reserve()

◆ resize()

◆ saveGraph()

◆ size()

Member Data Documentation

◆ factors_

template<class FACTOR>
class gtsam::FactorGraph< FACTOR >