DotWriter.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010-2021, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/FastVector.h>
#include <gtsam/base/Vector.h>
#include <gtsam/inference/Key.h>
 
#include <iosfwd>
#include <map>
#include <set>
#include <optional>
 
namespace gtsam {

struct GTSAM_EXPORT DotWriter {
  double figureWidthInches;   
  double figureHeightInches;  
  bool plotFactorPoints;  
  bool connectKeysToFactor;  
  bool binaryEdges;          

  std::map<Key, Vector2> variablePositions;

  std::map<char, double> positionHints;

  KeySet boxes;

  std::map<size_t, Vector2> factorPositions;
 
  explicit DotWriter(double figureWidthInches = 5,
                     double figureHeightInches = 5,
                     bool plotFactorPoints = true,
                     bool connectKeysToFactor = true, bool binaryEdges = false)
      : figureWidthInches(figureWidthInches),
        figureHeightInches(figureHeightInches),
        plotFactorPoints(plotFactorPoints),
        connectKeysToFactor(connectKeysToFactor),
        binaryEdges(binaryEdges) {}

  void graphPreamble(std::ostream* os) const;

  void digraphPreamble(std::ostream* os) const;

  void drawVariable(Key key, const KeyFormatter& keyFormatter,
                    const std::optional<Vector2>& position,
                    std::ostream* os) const;

  static void DrawFactor(size_t i, const std::optional<Vector2>& position,
                         std::ostream* os);

  std::optional<Vector2> variablePos(Key key) const;

  void processFactor(size_t i, const KeyVector& keys,
                     const KeyFormatter& keyFormatter,
                     const std::optional<Vector2>& position,
                     std::ostream* os) const;
};
 
}  // namespace gtsam