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28 class SymbolicFactorGraph;
29 class SymbolicConditional;
30 class SymbolicBayesNet;
31 class SymbolicEliminationTree;
32 class SymbolicBayesTree;
33 class SymbolicJunctionTree;
45 static std::pair<std::shared_ptr<ConditionalType>, std::shared_ptr<FactorType> >
52 std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
79 template<
typename ITERATOR>
83 template<
class CONTAINER>
87 template<
class DERIVEDFACTOR>
95 std::initializer_list<std::shared_ptr<SymbolicFactor>> sharedFactors)
96 :
Base(sharedFactors) {}
100 emplace_shared<SymbolicFactor>(
c);
110 emplace_shared<SymbolicFactor>(
c);
123 const std::string&
s =
"SymbolicFactorGraph",
134 void push_factor(
Key key);
148 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
150 friend class boost::serialization::access;
151 template<
class ARCHIVE>
152 void serialize(ARCHIVE & ar,
const unsigned int ) {
153 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
const Symbol key1('v', 1)
EIGEN_STRONG_INLINE Packet4f print(const Packet4f &a)
SymbolicFactorGraph(SymbolicFactor &&c)
Construct from a single factor.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Typedefs for easier changing of types.
SymbolicConditional ConditionalType
Type of conditionals from elimination.
const GaussianFactorGraph factors
EliminateableFactorGraph< This > BaseEliminateable
Typedef to base elimination class.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
const KeyFormatter & formatter
SymbolicFactorGraph(std::initializer_list< std::shared_ptr< SymbolicFactor >> sharedFactors)
SymbolicBayesNet BayesNetType
Type of Bayes net from sequential elimination.
void print(const std::string &s="SymbolicFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override
print
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
SymbolicEliminationTree EliminationTreeType
Type of elimination tree.
const Symbol key2('v', 2)
SymbolicFactorGraph(const CONTAINER &factors)
static Ordering Colamd(const FACTOR_GRAPH &graph)
static Ordering DefaultOrderingFunc(const FactorGraphType &graph, std::optional< std::reference_wrapper< const VariableIndex >> variableIndex)
The default ordering generation function.
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
SymbolicFactorGraph This
Typedef to this class.
const Symbol key3('v', 3)
SymbolicFactorGraph FactorGraphType
Type of the factor graph (e.g. GaussianFactorGraph)
Variable elimination algorithms for factor graphs.
const gtsam::Symbol key('X', 0)
SymbolicFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
static std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< FactorType > > DefaultEliminate(const FactorGraphType &factors, const Ordering &keys)
The default dense elimination function.
SymbolicFactor FactorType
Type of factors in factor graph.
SymbolicFactorGraph(ITERATOR firstFactor, ITERATOR lastFactor)
const Symbol key4('v', 4)
NonlinearFactorGraph graph
FactorGraph< SymbolicFactor > Base
Typedef to base factor graph type.
std::uint64_t Key
Integer nonlinear key type.
SymbolicFactorGraph & operator()(SymbolicFactor &&c)
Add a single factor and return a reference. This allows for chaining, e.g., SymbolicFactorGraph bn = ...
SymbolicJunctionTree JunctionTreeType
SymbolicBayesTree BayesTreeType
Type of Bayes tree.
std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > > EliminateSymbolic(const SymbolicFactorGraph &factors, const Ordering &keys)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:36:55