#include <FactorGraph.h>

Public Types
typedef FACTOR	FactorType
	factor type

typedef std::shared_ptr< FACTOR >	sharedFactor
	Shared pointer to a factor.

typedef sharedFactor	value_type

typedef FastVector< sharedFactor >::iterator	iterator

typedef FastVector< sharedFactor >::const_iterator	const_iterator

Protected Member Functions
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==.

Protected Attributes
FastVector< sharedFactor >	factors_

Standard Constructors
	FactorGraph ()

template<typename ITERATOR >
	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

template<class CONTAINER >
	FactorGraph (const CONTAINER &factors)

Constructors
virtual	~FactorGraph ()=default

template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>>
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

Adding Single Factors
void	reserve (size_t size)

template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR >	push_back (std::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr.

template<class DERIVEDFACTOR , class... Args>
IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&... args)
	Emplace a shared pointer to factor of given type.

template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR >	add (std::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back.

Adding via iterators
template<typename ITERATOR >
HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

template<typename ITERATOR >
HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied)

Adding via container
template<typename CONTAINER >
HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

template<typename CONTAINER >
HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied).

template<class FACTOR_OR_CONTAINER >
void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

Specialized versions
template<class CLIQUE >
std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

template<typename CONTAINER , typename = HasDerivedElementType<CONTAINER>>
FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

Testable
virtual void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print out graph to std::cout, with optional key formatter.

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance.

Standard Interface
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

Modifying Factor Graphs (imperative, discouraged)
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)

Graph Display
void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version.

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string.

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format.

Advanced Interface
size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Detailed Description

template<class FACTOR>
class gtsam::FactorGraph< FACTOR >

A factor graph is a bipartite graph with factor nodes connected to variable nodes. In this class, however, only factor nodes are kept around.

Constructor & Destructor Documentation

◆ FactorGraph() [1/4]

template<class FACTOR>

gtsam::FactorGraph< FACTOR >::FactorGraph ( )

inlineprotected

Default constructor

◆ FactorGraph() [2/4]

template<class FACTOR>

template<typename ITERATOR >

gtsam::FactorGraph< FACTOR >::FactorGraph	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inlineprotected

Constructor from iterator over factors (shared_ptr or plain objects)

◆ FactorGraph() [3/4]

template<class FACTOR>

template<class CONTAINER >

gtsam::FactorGraph< FACTOR >::FactorGraph ( const CONTAINER & factors )

inlineexplicitprotected

Construct from container of factors (shared_ptr or plain objects)

◆ ~FactorGraph()

template<class FACTOR>

virtual gtsam::FactorGraph< FACTOR >::~FactorGraph ( )

virtualdefault

Default destructor Public and virtual so boost serialization can call it.

◆ FactorGraph() [4/4]

template<class FACTOR>

template<class DERIVEDFACTOR , typename = IsDerived<DERIVEDFACTOR>>

gtsam::FactorGraph< FACTOR >::FactorGraph ( std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors )

inline

Constructor that takes an initializer list of shared pointers. FactorGraph fg = {make_shared<MyFactor>(), ...};

Member Function Documentation

◆ add()

template<class FACTOR>

template<class FACTOR_OR_CONTAINER >

void gtsam::FactorGraph< FACTOR >::add ( const FACTOR_OR_CONTAINER & factorOrContainer )

inline

Add a factor or container of factors, including STL collections, BayesTrees, etc.

◆ add_factors()

template<class FACTOR >

template<typename CONTAINER , typename >

FactorIndices gtsam::FactorGraph< FACTOR >::add_factors	(	const CONTAINER &	factors,
		bool	useEmptySlots = `false`
	)

Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.

◆ at() [1/2]

template<class FACTOR>

const sharedFactor gtsam::FactorGraph< FACTOR >::at ( size_t i ) const

inline

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

◆ at() [2/2]

template<class FACTOR>

sharedFactor& gtsam::FactorGraph< FACTOR >::at ( size_t i )

inline

Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).

◆ back()

template<class FACTOR>

sharedFactor gtsam::FactorGraph< FACTOR >::back ( ) const

inline

Get the last factor

◆ begin() [1/2]

template<class FACTOR>

const_iterator gtsam::FactorGraph< FACTOR >::begin ( ) const

inline

Iterator to beginning of factors.

◆ begin() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::begin ( )

inline

non-const STL-style begin()

◆ empty()

template<class FACTOR>

bool gtsam::FactorGraph< FACTOR >::empty ( ) const

inline

Check if the graph is empty (null factors set by remove() will cause this to return false).

◆ end() [1/2]

template<class FACTOR>

const_iterator gtsam::FactorGraph< FACTOR >::end ( ) const

inline

Iterator to end of factors.

◆ end() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::end ( )

inline

non-const STL-style end()

◆ erase() [1/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::erase ( iterator item )

inline

Erase factor and rearrange other factors to take up the empty space

◆ erase() [2/2]

template<class FACTOR>

iterator gtsam::FactorGraph< FACTOR >::erase	(	iterator	first,
		iterator	last
	)

inline

Erase factors and rearrange other factors to take up the empty space

◆ error()

template<class FACTOR >

double gtsam::FactorGraph< FACTOR >::error ( const HybridValues & values ) const

Add error for all factors.

◆ exists()

template<class FACTOR>

bool gtsam::FactorGraph< FACTOR >::exists ( size_t idx ) const

inline

MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer

◆ front()

template<class FACTOR>

sharedFactor gtsam::FactorGraph< FACTOR >::front ( ) const

inline

Get the first factor

◆ keys()

template<class FACTOR >

KeySet gtsam::FactorGraph< FACTOR >::keys ( ) const

Potentially slow function to return all keys involved, sorted, as a set

◆ keyVector()

template<class FACTOR >

KeyVector gtsam::FactorGraph< FACTOR >::keyVector ( ) const

Potentially slow function to return all keys involved, sorted, as a vector

◆ nrFactors()

template<class FACTOR >

size_t gtsam::FactorGraph< FACTOR >::nrFactors ( ) const

return the number of non-null factors

◆ operator[]() [1/2]

template<class FACTOR>

const sharedFactor gtsam::FactorGraph< FACTOR >::operator[] ( size_t i ) const

inline

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

◆ operator[]() [2/2]

template<class FACTOR>

sharedFactor& gtsam::FactorGraph< FACTOR >::operator[] ( size_t i )

inline

Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

◆ push_back() [1/4]

template<class FACTOR>

template<class DERIVEDFACTOR >

IsDerived<DERIVEDFACTOR> gtsam::FactorGraph< FACTOR >::push_back ( const DERIVEDFACTOR & factor )

inline

Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).

◆ push_back() [2/4]

template<class FACTOR>

template<typename ITERATOR >

HasDerivedElementType<ITERATOR> gtsam::FactorGraph< FACTOR >::push_back	(	ITERATOR	firstFactor,
		ITERATOR	lastFactor
	)

inline

Push back many factors with an iterator over shared_ptr (factors are not copied)

◆ push_back() [3/4]

template<class FACTOR>

template<typename CONTAINER >

HasDerivedElementType<CONTAINER> gtsam::FactorGraph< FACTOR >::push_back ( const CONTAINER & container )

inline

Push back many factors as shared_ptr's in a container (factors are not copied)

◆ push_back() [4/4]

template<class FACTOR>

template<class CLIQUE >

std::enable_if< std::is_base_of<This, typename CLIQUE::FactorGraphType>::value>::type gtsam::FactorGraph< FACTOR >::push_back ( const BayesTree< CLIQUE > & bayesTree )

inline

Push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived classes in favor of a type-specialized version that calls this templated function.

◆ remove()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::remove ( size_t i )

inline

delete factor without re-arranging indexes by inserting a nullptr pointer

◆ replace()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::replace	(	size_t	index,
		sharedFactor	factor
	)

inline

replace a factor by index

◆ reserve()

template<class FACTOR>

void gtsam::FactorGraph< FACTOR >::reserve ( size_t size )

inline

Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).

◆ resize()

template<class FACTOR>

virtual void gtsam::FactorGraph< FACTOR >::resize ( size_t size )

inlinevirtual

Directly resize the number of factors in the graph. If the new size is less than the original, factors at the end will be removed. If the new size is larger than the original, null factors will be appended.

◆ size()

template<class FACTOR>

size_t gtsam::FactorGraph< FACTOR >::size ( ) const

inline

return the number of factors (including any null factors set by remove() ).

Member Data Documentation

◆ factors_

template<class FACTOR>

FastVector<sharedFactor> gtsam::FactorGraph< FACTOR >::factors_

protected

concept check, makes sure FACTOR defines print and equals Collection of factors

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/BayesTree.h
/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/FactorGraph.h
/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/FactorGraph-inst.h

Public Types

Protected Member Functions

Protected Attributes

Standard Constructors

Constructors

Adding Single Factors

Adding via iterators

Adding via container

Specialized versions

Testable

Standard Interface

Modifying Factor Graphs (imperative, discouraged)

Graph Display

Advanced Interface

Detailed Description

template<class FACTOR> class gtsam::FactorGraph< FACTOR >

Constructor & Destructor Documentation

◆ FactorGraph() [1/4]

◆ FactorGraph() [2/4]

◆ FactorGraph() [3/4]

◆ ~FactorGraph()

◆ FactorGraph() [4/4]

Member Function Documentation

◆ add()

◆ add_factors()

◆ at() [1/2]

◆ at() [2/2]

◆ back()

◆ begin() [1/2]

◆ begin() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase() [1/2]

◆ erase() [2/2]

◆ error()

◆ exists()

◆ front()

◆ keys()

◆ keyVector()

◆ nrFactors()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back() [1/4]

◆ push_back() [2/4]

◆ push_back() [3/4]

◆ push_back() [4/4]

◆ remove()

◆ replace()

◆ reserve()

◆ resize()

◆ size()

Member Data Documentation

◆ factors_

template<class FACTOR>
class gtsam::FactorGraph< FACTOR >