#include <VariableIndex.h>

Public Types
typedef KeyMap::const_iterator	const_iterator

typedef FactorIndices::const_iterator	Factor_const_iterator

typedef FactorIndices::iterator	Factor_iterator

typedef KeyMap::const_iterator	iterator

typedef std::shared_ptr< VariableIndex >	shared_ptr

typedef KeyMap::value_type	value_type

Protected Types
typedef FastMap< Key, FactorIndices >	KeyMap

Protected Attributes
KeyMap	index_

size_t	nEntries_

size_t	nFactors_

Standard Constructors
	VariableIndex ()
	Default constructor, creates an empty VariableIndex. More...

template<class FG >
	VariableIndex (const FG &factorGraph)

Standard Interface
size_t	size () const
	The number of variable entries. This is equal to the number of unique variable Keys. More...

size_t	nFactors () const
	The number of factors in the original factor graph. More...

size_t	nEntries () const
	The number of nonzero blocks, i.e. the number of variable-factor entries. More...

const FactorIndices &	operator[] (Key variable) const
	Access a list of factors by variable. More...

bool	empty (Key variable) const
	Return true if no factors associated with a variable. More...

Testable
bool	equals (const VariableIndex &other, double tol=0.0) const
	Test for equality (for unit tests and debug assertions). More...

void	print (const std::string &str="VariableIndex: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print the variable index (for unit tests and debugging). More...

void	outputMetisFormat (std::ostream &os) const

Advanced Interface
template<class FG >
void	augment (const FG &factors, const FactorIndices *newFactorIndices=nullptr)

template<class FG >
void	augment (const FG &factor, const FactorIndices &newFactorIndices)

void	augmentExistingFactor (const FactorIndex factorIndex, const KeySet &newKeys)

template<typename ITERATOR , class FG >
void	remove (ITERATOR firstFactor, ITERATOR lastFactor, const FG &factors)

template<typename ITERATOR >
void	removeUnusedVariables (ITERATOR firstKey, ITERATOR lastKey)
	Remove unused empty variables (in debug mode verifies they are empty). More...

const_iterator	begin () const
	Iterator to the first variable entry. More...

const_iterator	end () const
	Iterator to the first variable entry. More...

const_iterator	find (Key key) const
	Find the iterator for the requested variable entry. More...

Factor_iterator	factorsBegin (Key variable)

Factor_iterator	factorsEnd (Key variable)

Factor_const_iterator	factorsBegin (Key variable) const

Factor_const_iterator	factorsEnd (Key variable) const

const FactorIndices &	internalAt (Key variable) const
	Internal version of 'at' that asserts existence. More...

FactorIndices &	internalAt (Key variable)
	Internal version of 'at' that asserts existence. More...

Detailed Description

The VariableIndex class computes and stores the block column structure of a factor graph. The factor graph stores a collection of factors, each of which involves a set of variables. In contrast, the VariableIndex is built from a factor graph prior to elimination, and stores the list of factors that involve each variable. This information is stored as a deque of lists of factor indices.

Definition at line 41 of file VariableIndex.h.

Member Typedef Documentation

◆ const_iterator

typedef KeyMap::const_iterator gtsam::VariableIndex::const_iterator

Definition at line 54 of file VariableIndex.h.

◆ Factor_const_iterator

typedef FactorIndices::const_iterator gtsam::VariableIndex::Factor_const_iterator

Definition at line 45 of file VariableIndex.h.

◆ Factor_iterator

typedef FactorIndices::iterator gtsam::VariableIndex::Factor_iterator

Definition at line 44 of file VariableIndex.h.

◆ iterator

typedef KeyMap::const_iterator gtsam::VariableIndex::iterator

Definition at line 55 of file VariableIndex.h.

◆ KeyMap

typedef FastMap<Key, FactorIndices> gtsam::VariableIndex::KeyMap

protected

Definition at line 48 of file VariableIndex.h.

◆ shared_ptr

typedef std::shared_ptr<VariableIndex> gtsam::VariableIndex::shared_ptr

Definition at line 43 of file VariableIndex.h.

◆ value_type

typedef KeyMap::value_type gtsam::VariableIndex::value_type

Definition at line 56 of file VariableIndex.h.

Constructor & Destructor Documentation

◆ VariableIndex() [1/2]

gtsam::VariableIndex::VariableIndex ( )

inline

Default constructor, creates an empty VariableIndex.

Definition at line 62 of file VariableIndex.h.

◆ VariableIndex() [2/2]

template<class FG >

gtsam::VariableIndex::VariableIndex ( const FG & factorGraph )

inlineexplicit

Create a VariableIndex that computes and stores the block column structure of a factor graph.

Definition at line 69 of file VariableIndex.h.

Member Function Documentation

◆ augment() [1/2]

template<class FG >

void gtsam::VariableIndex::augment	(	const FG &	factors,
		const FactorIndices *	newFactorIndices = `nullptr`
	)

Augment the variable index with new factors. This can be used when solving problems incrementally.

Definition at line 27 of file VariableIndex-inl.h.

◆ augment() [2/2]

template<class FG >

void gtsam::VariableIndex::augment	(	const FG &	factor,
		const FactorIndices &	newFactorIndices
	)

inline

An overload of augment() that takes a single factor. and l-value reference to FactorIndeces.

Definition at line 134 of file VariableIndex.h.

◆ augmentExistingFactor()

void gtsam::VariableIndex::augmentExistingFactor	(	const FactorIndex	factorIndex,
		const KeySet &	newKeys
	)

Augment the variable index after an existing factor now affects to more variable Keys. This can be used when solving problems incrementally, with smart factors or in general with factors with a dynamic number of Keys.

Definition at line 59 of file VariableIndex.cpp.

◆ begin()

const_iterator gtsam::VariableIndex::begin ( ) const

inline

Iterator to the first variable entry.

Definition at line 163 of file VariableIndex.h.

◆ empty()

bool gtsam::VariableIndex::empty ( Key variable ) const

inline

Return true if no factors associated with a variable.

Definition at line 96 of file VariableIndex.h.

◆ end()

const_iterator gtsam::VariableIndex::end ( ) const

inline

Iterator to the first variable entry.

Definition at line 166 of file VariableIndex.h.

◆ equals()

bool gtsam::VariableIndex::equals	(	const VariableIndex &	other,
		double	tol = `0.0`
	)		const

Test for equality (for unit tests and debug assertions).

Definition at line 27 of file VariableIndex.cpp.

◆ factorsBegin() [1/2]

Factor_iterator gtsam::VariableIndex::factorsBegin ( Key variable )

inlineprotected

Definition at line 172 of file VariableIndex.h.

◆ factorsBegin() [2/2]

Factor_const_iterator gtsam::VariableIndex::factorsBegin ( Key variable ) const

inlineprotected

Definition at line 175 of file VariableIndex.h.

◆ factorsEnd() [1/2]

Factor_iterator gtsam::VariableIndex::factorsEnd ( Key variable )

inlineprotected

Definition at line 173 of file VariableIndex.h.

◆ factorsEnd() [2/2]

Factor_const_iterator gtsam::VariableIndex::factorsEnd ( Key variable ) const

inlineprotected

Definition at line 176 of file VariableIndex.h.

◆ find()

const_iterator gtsam::VariableIndex::find ( Key key ) const

inline

Find the iterator for the requested variable entry.

Definition at line 169 of file VariableIndex.h.

◆ internalAt() [1/2]

const FactorIndices& gtsam::VariableIndex::internalAt ( Key variable ) const

inlineprotected

Internal version of 'at' that asserts existence.

Definition at line 179 of file VariableIndex.h.

◆ internalAt() [2/2]

FactorIndices& gtsam::VariableIndex::internalAt ( Key variable )

inlineprotected

Internal version of 'at' that asserts existence.

Definition at line 186 of file VariableIndex.h.

◆ nEntries()

size_t gtsam::VariableIndex::nEntries ( ) const

inline

The number of nonzero blocks, i.e. the number of variable-factor entries.

Definition at line 84 of file VariableIndex.h.

◆ nFactors()

size_t gtsam::VariableIndex::nFactors ( ) const

inline

The number of factors in the original factor graph.

Definition at line 81 of file VariableIndex.h.

◆ operator[]()

const FactorIndices& gtsam::VariableIndex::operator[] ( Key variable ) const

inline

Access a list of factors by variable.

Definition at line 87 of file VariableIndex.h.

◆ outputMetisFormat()

void gtsam::VariableIndex::outputMetisFormat ( std::ostream & os ) const

Output dual hypergraph to Metis file format for use with hmetis In the dual graph, variables are hyperedges, factors are nodes.

Definition at line 46 of file VariableIndex.cpp.

◆ print()

void gtsam::VariableIndex::print	(	const std::string &	str = `"VariableIndex: "`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

Print the variable index (for unit tests and debugging).

Definition at line 33 of file VariableIndex.cpp.

◆ remove()

template<typename ITERATOR , class FG >

void gtsam::VariableIndex::remove	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor,
		const FG &	factors
	)

Remove entries corresponding to the specified factors. NOTE: We intentionally do not decrement nFactors_ because the factor indices need to remain consistent. Removing factors from a factor graph does not shift the indices of other factors. Also, we keep nFactors_ one greater than the highest-numbered factor referenced in a VariableIndex.

Parameters

indices	The indices of the factors to remove, which must match `factors`
factors	The factors being removed, which must symbolically correspond exactly to the factors with the specified `indices` that were added.

Definition at line 53 of file VariableIndex-inl.h.

◆ removeUnusedVariables()

template<typename ITERATOR >

void gtsam::VariableIndex::removeUnusedVariables	(	ITERATOR	firstKey,
		ITERATOR	lastKey
	)

Remove unused empty variables (in debug mode verifies they are empty).

Definition at line 84 of file VariableIndex-inl.h.

◆ size()

size_t gtsam::VariableIndex::size ( ) const

inline

The number of variable entries. This is equal to the number of unique variable Keys.

Definition at line 78 of file VariableIndex.h.

Member Data Documentation

◆ index_

KeyMap gtsam::VariableIndex::index_

protected

Definition at line 49 of file VariableIndex.h.

◆ nEntries_

size_t gtsam::VariableIndex::nEntries_

protected

Definition at line 51 of file VariableIndex.h.

◆ nFactors_

size_t gtsam::VariableIndex::nFactors_

protected

Definition at line 50 of file VariableIndex.h.

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

Public Types

Protected Types

Protected Attributes

Standard Constructors

Standard Interface

Testable

Advanced Interface

Detailed Description

Member Typedef Documentation

◆ const_iterator

◆ Factor_const_iterator

◆ Factor_iterator

◆ iterator

◆ KeyMap

◆ shared_ptr

◆ value_type

Constructor & Destructor Documentation

◆ VariableIndex() [1/2]

◆ VariableIndex() [2/2]

Member Function Documentation

◆ augment() [1/2]

◆ augment() [2/2]

◆ augmentExistingFactor()

◆ begin()

◆ empty()

◆ end()

◆ equals()

◆ factorsBegin() [1/2]

◆ factorsBegin() [2/2]

◆ factorsEnd() [1/2]

◆ factorsEnd() [2/2]

◆ find()

◆ internalAt() [1/2]

◆ internalAt() [2/2]

◆ nEntries()

◆ nFactors()

◆ operator[]()

◆ outputMetisFormat()

◆ print()

◆ remove()

◆ removeUnusedVariables()

◆ size()

Member Data Documentation

◆ index_

◆ nEntries_

◆ nFactors_