#include <fuse_core/constraint.h>#include <fuse_core/fuse_macros.h>#include <fuse_core/serialization.h>#include <fuse_core/transaction.h>#include <fuse_core/uuid.h>#include <fuse_core/variable.h>#include <boost/core/demangle.hpp>#include <boost/range/any_range.hpp>#include <boost/serialization/access.hpp>#include <boost/type_index/stl_type_index.hpp>#include <ceres/covariance.h>#include <ceres/problem.h>#include <ceres/solver.h>#include <memory>#include <numeric>#include <ostream>#include <string>#include <utility>#include <vector>
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Classes | |
| struct | fuse_core::Graph::ConstraintCost |
| Structure containing the cost and residual information for a single constraint. More... | |
| class | fuse_core::Graph |
| This is an interface definition describing the collection of constraints and variables that form the factor graph, a graphical model of a nonlinear least-squares problem. More... | |
Namespaces | |
| fuse_core | |
Macros | |
| #define | FUSE_GRAPH_DEFINITIONS(...) |
| Convenience function that creates the required pointer aliases, and type() method. More... | |
| #define | FUSE_GRAPH_SERIALIZE_DEFINITION(...) |
| Implementation of the serialize() and deserialize() member functions for derived classes. More... | |
| #define | FUSE_GRAPH_TYPE_DEFINITION(...) |
| Implements the type() member function using the suggested implementation. More... | |
Functions | |
| std::ostream & | fuse_core::operator<< (std::ostream &stream, const Graph &graph) |
Macro Definition Documentation
◆ FUSE_GRAPH_DEFINITIONS
| #define FUSE_GRAPH_DEFINITIONS | ( | ... | ) |
Value:
FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
FUSE_GRAPH_TYPE_DEFINITION(__VA_ARGS__) \
FUSE_GRAPH_SERIALIZE_DEFINITION(__VA_ARGS__)
Convenience function that creates the required pointer aliases, and type() method.
Usage:
class Derived : public Graph
{
public:
FUSE_GRAPH_DEFINITIONS(Derived);
// The rest of the derived graph implementation
}
◆ FUSE_GRAPH_SERIALIZE_DEFINITION
| #define FUSE_GRAPH_SERIALIZE_DEFINITION | ( | ... | ) |
Value:
{ \
archive << *this; \
} /* NOLINT */ \
{ \
archive << *this; \
} /* NOLINT */ \
{ \
archive >> *this; \
} /* NOLINT */ \
{ \
archive >> *this; \
}
Implementation of the serialize() and deserialize() member functions for derived classes.
Usage:
class Derived : public Graph
{
public:
FUSE_GRAPH_SERIALIZE_DEFINITION(Derived);
// The rest of the derived graph implementation
}
◆ FUSE_GRAPH_TYPE_DEFINITION
| #define FUSE_GRAPH_TYPE_DEFINITION | ( | ... | ) |
Value:
struct detail \
{ \
static std::string type() \
{ \
return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
} /* NOLINT */ \
}; /* NOLINT */ \
std::string type() const override \
{ \
return detail::type(); \
}
Implements the type() member function using the suggested implementation.
Also creates a static detail::type() function that may be used without an object instance
Usage:
class Derived : public Graph
{
public:
FUSE_GRAPH_TYPE_DEFINITION(Derived);
// The rest of the derived graph implementation
}