gtsam::VariableSlots Class Reference

#include <VariableSlots.h>

Inheritance diagram for gtsam::VariableSlots:

Collaboration diagram for gtsam::VariableSlots:

Public Types
typedef FastMap< Key, FastVector< size_t > >	Base

Public Member Functions
	operator std::map< Key, FastVector< size_t > > () const
bool	insert2 (const Key &key, const FastVector< size_t > &val)
bool	exists (const Key &e) const

Static Public Attributes
static GTSAM_EXPORT const size_t	Empty

Standard Constructors
template<class FG >
	VariableSlots (const FG &factorGraph)

Testable
GTSAM_EXPORT void	print (const std::string &str="VariableSlots: ") const
GTSAM_EXPORT bool	equals (const VariableSlots &rhs, double tol=0.0) const

Detailed Description

A combined factor is assembled as one block of rows for each component factor. In each row-block (factor), some of the column-blocks (variables) may be empty since factors involving different sets of variables are interleaved.

VariableSlots describes the 2D block structure of the combined factor. It is a map<Key, vector<size_t> >. The Key is the real variable index of the combined factor slot. The vector<size_t> tells, for each row-block (factor), which column-block (variable slot) from the component factor appears in this block of the combined factor.

As an example, if the combined factor contains variables 1, 3, and 5, then "variableSlots[3][2] == 0" indicates that column-block 1 (corresponding to variable index 3), row-block 2 (also meaning component factor 2), comes from column-block 0 of component factor 2.

Constructor & Destructor Documentation

VariableSlots()

template<class FG >

gtsam::VariableSlots::VariableSlots

(

const FG &

factorGraph

)

Constructor from a set of factors to be combined. Sorts the variables and keeps track of which variable from each factor ends up in each slot of the combined factor, as described in the class comment.

Member Function Documentation

equals()

GTSAM_EXPORT bool gtsam::VariableSlots::equals	(	const VariableSlots &	rhs,
		double	tol = 0.0
	)		const

equals

exists()

bool gtsam::FastMap< Key , FastVector< size_t > >::exists ( const Key &  e ) const

inlineinherited

Handy 'exists' function

insert2()

bool gtsam::FastMap< Key , FastVector< size_t > >::insert2 ( const Key &  key, const FastVector< size_t > &  val  )

inlineinherited

Handy 'insert' function for Matlab wrapper

operator std::map< Key, FastVector< size_t > >()

gtsam::FastMap< Key , FastVector< size_t > >::operator std::map< Key , FastVector< size_t > > ( ) const

inlineinherited

Conversion to a standard STL container

print()

GTSAM_EXPORT void gtsam::VariableSlots::print

(

const std::string &

str = "VariableSlots: "

)

const

print

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/VariableSlots.h