#include <SymbolicFactorGraph.h>
Public Types | |
typedef FactorGraph< SymbolicFactor > | Base |
Typedef to base factor graph type. More... | |
typedef EliminateableFactorGraph< This > | BaseEliminateable |
Typedef to base elimination class. More... | |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class More... | |
typedef SymbolicFactorGraph | This |
Typedef to this class. More... | |
Public Types inherited from gtsam::FactorGraph< SymbolicFactor > | |
typedef FastVector< sharedFactor >::const_iterator | const_iterator |
typedef SymbolicFactor | FactorType |
factor type More... | |
typedef FastVector< sharedFactor >::iterator | iterator |
typedef std::shared_ptr< SymbolicFactor > | sharedFactor |
Shared pointer to a factor. More... | |
typedef sharedFactor | value_type |
Public Types inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph > | |
typedef EliminationTraitsType::BayesNetType | BayesNetType |
Bayes net type produced by sequential elimination. More... | |
typedef EliminationTraitsType::BayesTreeType | BayesTreeType |
Bayes tree type produced by multifrontal elimination. More... | |
typedef EliminationTraitsType::ConditionalType | ConditionalType |
Conditional type stored in the Bayes net produced by elimination. More... | |
typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)> | Eliminate |
The function type that does a single dense elimination step on a subgraph. More... | |
typedef std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< _FactorType > > | EliminationResult |
typedef EliminationTraits< FactorGraphType > | EliminationTraitsType |
Typedef to the specific EliminationTraits for this graph. More... | |
typedef EliminationTraitsType::EliminationTreeType | EliminationTreeType |
Elimination tree type that can do sequential elimination of this graph. More... | |
typedef EliminationTraitsType::JunctionTreeType | JunctionTreeType |
Junction tree type that can do multifrontal elimination of this graph. More... | |
typedef std::optional< Ordering::OrderingType > | OptionalOrderingType |
Typedef for an optional ordering type. More... | |
typedef std::optional< std::reference_wrapper< const VariableIndex > > | OptionalVariableIndex |
Standard Constructors | |
SymbolicFactorGraph () | |
template<typename ITERATOR > | |
SymbolicFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor) | |
template<class CONTAINER > | |
SymbolicFactorGraph (const CONTAINER &factors) | |
template<class DERIVEDFACTOR > | |
SymbolicFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph) | |
SymbolicFactorGraph (std::initializer_list< std::shared_ptr< SymbolicFactor >> sharedFactors) | |
SymbolicFactorGraph (SymbolicFactor &&c) | |
Construct from a single factor. More... | |
SymbolicFactorGraph & | operator() (SymbolicFactor &&c) |
Add a single factor and return a reference. This allows for chaining, e.g., SymbolicFactorGraph bn = SymbolicFactorGraph(SymbolicFactor(...))(SymbolicFactor(...));. More... | |
Testable | |
bool | equals (const This &fg, double tol=1e-9) const |
void | print (const std::string &s="SymbolicFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
print More... | |
Standard Interface | |
void | push_factor (Key key) |
void | push_factor (Key key1, Key key2) |
void | push_factor (Key key1, Key key2, Key key3) |
void | push_factor (Key key1, Key key2, Key key3, Key key4) |
Additional Inherited Members | |
Public Member Functions inherited from gtsam::FactorGraph< SymbolicFactor > | |
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 |
Public Member Functions inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph > | |
std::shared_ptr< BayesTreeType > | eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesTreeType > | eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< FactorGraphType > | marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
std::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const |
Protected Member Functions inherited from gtsam::FactorGraph< SymbolicFactor > | |
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< SymbolicFactor > | |
FastVector< sharedFactor > | factors_ |
Definition at line 61 of file SymbolicFactorGraph.h.
Typedef to base factor graph type.
Definition at line 68 of file SymbolicFactorGraph.h.
Typedef to base elimination class.
Definition at line 69 of file SymbolicFactorGraph.h.
typedef std::shared_ptr<This> gtsam::SymbolicFactorGraph::shared_ptr |
shared_ptr to this class
Definition at line 70 of file SymbolicFactorGraph.h.
Typedef to this class.
Definition at line 67 of file SymbolicFactorGraph.h.
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inline |
Construct empty factor graph
Definition at line 76 of file SymbolicFactorGraph.h.
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inline |
Construct from iterator over factors
Definition at line 80 of file SymbolicFactorGraph.h.
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inlineexplicit |
Construct from container of factors (shared_ptr or plain objects)
Definition at line 84 of file SymbolicFactorGraph.h.
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Implicit copy/downcast constructor to override explicit template container constructor
Definition at line 88 of file SymbolicFactorGraph.h.
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inline |
Constructor that takes an initializer list of shared pointers. FactorGraph fg = {make_shared<MyFactor>(), ...};
Definition at line 94 of file SymbolicFactorGraph.h.
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inline |
Construct from a single factor.
Definition at line 99 of file SymbolicFactorGraph.h.
bool gtsam::SymbolicFactorGraph::equals | ( | const This & | fg, |
double | tol = 1e-9 |
||
) | const |
Definition at line 36 of file SymbolicFactorGraph.cpp.
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inline |
Add a single factor and return a reference. This allows for chaining, e.g., SymbolicFactorGraph bn = SymbolicFactorGraph(SymbolicFactor(...))(SymbolicFactor(...));.
Definition at line 109 of file SymbolicFactorGraph.h.
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inlineoverridevirtual |
Reimplemented from gtsam::FactorGraph< SymbolicFactor >.
Definition at line 122 of file SymbolicFactorGraph.h.
void gtsam::SymbolicFactorGraph::push_factor | ( | Key | key | ) |
Push back unary factor
Definition at line 42 of file SymbolicFactorGraph.cpp.
Push back binary factor
Definition at line 47 of file SymbolicFactorGraph.cpp.
Push back ternary factor
Definition at line 52 of file SymbolicFactorGraph.cpp.
Push back 4-way factor
Definition at line 57 of file SymbolicFactorGraph.cpp.