factor.FactorGraph Class Reference

Public Member Functions
def	__init__ (self, variableSize, nbVariables)
def	add_factor (self, factors, reference)
def	add_factor_constraint (self, factors, reference)
def	matrix_form_factor (self, factors)
def	solve (self, eps=1e-8)

Public Attributes
	A
	b
	C
	d
	N
	nx

Detailed Description

The class FactorGraph stores a block-sparse linear-constrained quadratic program
(LCQP) of variable x=(x1...xn). The size of the problem is set up at construction of
the object.
Methods add_factor() and add_factor_constraint() are used to set up the problem.
Method solve() is used to compute the solution to the problem.

Definition at line 40 of file factor.py.

Constructor & Destructor Documentation

__init__()

def factor.FactorGraph.__init__	(		self,
			variableSize,
			nbVariables
	)

Initialize a QP sparse problem as min || A x - b || so that C x = d
where  x = (x1, .., xn), and dim(xi) = variableSize and n = nbVariables
After construction, A, b, C and d are allocated and set to 0.

Definition at line 49 of file factor.py.

Member Function Documentation

add_factor()

def factor.FactorGraph.add_factor	(		self,
			factors,
			reference
	)

Add a factor || sum_{i} factor[i].matrix * x_{factor[i].index} - reference ||
to the cost.

Definition at line 79 of file factor.py.

add_factor_constraint()

def factor.FactorGraph.add_factor_constraint	(		self,
			factors,
			reference
	)

Add a factor sum_{i} factor[i].matrix * x_{factor[i].index} =  reference
to the constraints.

Definition at line 88 of file factor.py.

matrix_form_factor()

def factor.FactorGraph.matrix_form_factor	(		self,
			factors
	)

Internal function: not designed to be called by the user.
Create a factor matrix [ A1 0 A2 0 A3 ... ] where the Ai's are placed at
the indexes of the factors.

Definition at line 62 of file factor.py.

solve()

def factor.FactorGraph.solve	(		self,
			eps = 1e-8
	)

Implement a LCQP solver, with numerical threshold eps.

Definition at line 97 of file factor.py.

Member Data Documentation

A

factor.FactorGraph.A

Definition at line 57 of file factor.py.

b

factor.FactorGraph.b

Definition at line 58 of file factor.py.

C

factor.FactorGraph.C

Definition at line 59 of file factor.py.

d

factor.FactorGraph.d

Definition at line 60 of file factor.py.

N

factor.FactorGraph.N

Definition at line 56 of file factor.py.

nx

factor.FactorGraph.nx

Definition at line 55 of file factor.py.

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

• factor.py