gtsam::GraphvizFormatting Struct Reference

#include <GraphvizFormatting.h>

Inheritance diagram for gtsam::GraphvizFormatting:

Collaboration diagram for gtsam::GraphvizFormatting:

Public Types
enum	Axis {   X, Y, Z, NEGX,   NEGY, NEGZ }
	World axes to be assigned to paper axes.

Public Member Functions
	GraphvizFormatting ()
Vector2	findBounds (const Values &values, const KeySet &keys) const
std::optional< Vector2 >	extractPosition (const Value &value) const
	Extract a Vector2 from either Vector2, Pose2, Pose3, or Point3.
std::optional< Vector2 >	variablePos (const Values &values, const Vector2 &min, Key key) const
	Return affinely transformed variable position if it exists.
std::optional< Vector2 >	factorPos (const Vector2 &min, size_t i) const
	Return affinely transformed factor position if it exists.
void	graphPreamble (std::ostream *os) const
	Write out preamble for graph, including size.
void	digraphPreamble (std::ostream *os) const
	Write out preamble for digraph, including size.
void	drawVariable (Key key, const KeyFormatter &keyFormatter, const std::optional< Vector2 > &position, std::ostream *os) const
	Create a variable dot fragment.
std::optional< Vector2 >	variablePos (Key key) const
	Return variable position or none.
void	processFactor (size_t i, const KeyVector &keys, const KeyFormatter &keyFormatter, const std::optional< Vector2 > &position, std::ostream *os) const
	Draw a single factor, specified by its index i and its variable keys.

Static Public Member Functions
static void	DrawFactor (size_t i, const std::optional< Vector2 > &position, std::ostream *os)
	Create factor dot.

Public Attributes
Axis	paperHorizontalAxis
Axis	paperVerticalAxis
double	scale
	Scale all positions to reduce / increase density.
bool	mergeSimilarFactors
double	figureWidthInches
	The figure width on paper in inches.
double	figureHeightInches
	The figure height on paper in inches.
bool	plotFactorPoints
	Plots each factor as a dot between the variables.
bool	connectKeysToFactor
bool	binaryEdges
	just use non-dotted edges for binary factors
std::map< Key, Vector2 >	variablePositions
std::map< char, double >	positionHints
std::set< Key >	boxes
std::map< size_t, Vector2 >	factorPositions

Detailed Description

Formatting options and functions for saving a NonlinearFactorGraph instance in GraphViz format.

Constructor & Destructor Documentation

GraphvizFormatting()

gtsam::GraphvizFormatting::GraphvizFormatting ( )

inline

Default constructor sets up robot coordinates. Paper horizontal is robot Y, paper vertical is robot X. Default figure size of 5x5 in.

Member Data Documentation

boxes

std::set<Key> gtsam::DotWriter::boxes

inherited

A set of keys that will be displayed as a box

connectKeysToFactor

bool gtsam::DotWriter::connectKeysToFactor

inherited

Draw a line from each key within a factor to the dot of the factor

factorPositions

std::map<size_t, Vector2> gtsam::DotWriter::factorPositions

inherited

Factor positions can be optionally specified and will be included in the dot file with a "!' sign, so "neato" can use it to render them.

mergeSimilarFactors

bool gtsam::GraphvizFormatting::mergeSimilarFactors

Merge multiple factors that have the same connectivity

paperHorizontalAxis

Axis gtsam::GraphvizFormatting::paperHorizontalAxis

The world axis assigned to the horizontal paper axis

paperVerticalAxis

Axis gtsam::GraphvizFormatting::paperVerticalAxis

The world axis assigned to the vertical paper axis

positionHints

std::map<char, double> gtsam::DotWriter::positionHints

inherited

The position hints allow one to use symbol character and index to specify position. Unless variable positions are specified, if a hint is present for a given symbol, it will be used to calculate the positions as (index,hint).

variablePositions

std::map<Key, Vector2> gtsam::DotWriter::variablePositions

inherited

Variable positions can be optionally specified and will be included in the dot file with a "!' sign, so "neato" can use it to render them.

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/GraphvizFormatting.h