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.

Standard Constructors
	FactorGraph ()
	Default constructor.

template<typename ITERATOR >
	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
	Constructor from iterator over factors (shared_ptr or plain objects)

template<class CONTAINER >
	FactorGraph (const CONTAINER &factors)
	Construct from container of factors (shared_ptr or plain objects)

Adding Factors

Constructor from a Bayes net

Parameters

bayesNet the Bayes net to convert, type CONDITIONAL must yield compatible factor

Returns: a factor graph with all the conditionals, as factorsconvert from Bayes tree convert from a derived type

void reserve (size_t size)

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

template<class DERIVEDFACTOR >

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type push_back (boost::shared_ptr< DERIVEDFACTOR > factor)

Add a factor directly using a shared_ptr.

void push_back (const sharedFactor &factor)

Add a factor directly using a shared_ptr.

template<class DERIVEDFACTOR , class... Args>

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type emplace_shared (Args &&... args)

Emplace a factor.

template<typename ITERATOR >

std::enable_if< std::is_base_of< FactorType, typename ITERATOR::value_type::element_type >::value >::type push_back (ITERATOR firstFactor, ITERATOR lastFactor)

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

template<typename CONTAINER >

std::enable_if< std::is_base_of< FactorType, typename CONTAINER::value_type::element_type >::value >::type push_back (const CONTAINER &container)

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

template<class CLIQUE >

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

push back a BayesTree as a collection of factors. More...

template<class DERIVEDFACTOR >

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type push_back (const DERIVEDFACTOR &factor)

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

template<typename ITERATOR >

std::enable_if< std::is_base_of< FactorType, typename ITERATOR::value_type >::value >::type push_back (ITERATOR firstFactor, ITERATOR lastFactor)

push back many factors with an iterator over plain factors (factors are copied)

template<typename CONTAINER >

std::enable_if< std::is_base_of< FactorType, typename CONTAINER::value_type >::value >::type push_back (const CONTAINER &container)

push back many factors as non-pointer objects in a container (factors are copied)

template<class DERIVEDFACTOR >

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)

Add a factor directly using a shared_ptr.

boost::assign::list_inserter< CRefCallPushBack< This > > operator+= (const sharedFactor &factor)

Add a factor directly using a shared_ptr.

template<class FACTOR_OR_CONTAINER >

boost::assign::list_inserter< CRefCallPushBack< This > > operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)

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

template<class DERIVEDFACTOR >

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type add (boost::shared_ptr< DERIVEDFACTOR > factor)

Add a factor directly using a shared_ptr.

void add (const sharedFactor &factor)

Add a factor directly using a shared_ptr.

template<class FACTOR_OR_CONTAINER >

void add (const FACTOR_OR_CONTAINER &factorOrContainer)

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

Testable
void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print out graph

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

Standard Interface
size_t	size () const
	return the number of factors (including any null factors set by remove() ). More...

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

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

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

const sharedFactor	operator[] (size_t i) const
	Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

sharedFactor &	operator[] (size_t i)
	Get a specific factor by index (this does not check array bounds, as opposed to at() which does).

const_iterator	begin () const
	Iterator to beginning of factors. More...

const_iterator	end () const
	Iterator to end of factors. More...

sharedFactor	front () const
	Get the first factor.

sharedFactor	back () const
	Get the last factor.

Modifying Factor Graphs (imperative, discouraged)
iterator	begin ()
	non-const STL-style begin()

iterator	end ()
	non-const STL-style end()

void	resize (size_t size)
	Directly resize the number of factors in the graph. More...

void	remove (size_t i)
	delete factor without re-arranging indexes by inserting a NULL pointer

void	replace (size_t index, sharedFactor factor)
	replace a factor by index

iterator	erase (iterator item)
	Erase factor and rearrange other factors to take up the empty space.

iterator	erase (iterator first, iterator last)
	Erase factors and rearrange other factors to take up the empty space.

Advanced Interface
class	boost::serialization::access
	Serialization function.

size_t	nrFactors () const
	return the number of non-null factors

KeySet	keys () const
	Potentially slow function to return all keys involved, sorted, as a set.

KeyVector	keyVector () const
	Potentially slow function to return all keys involved, sorted, as a vector.

bool	exists (size_t idx) const
	MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer.

Public Types
typedef FACTOR	FactorType
	factor type

typedef boost::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 Attributes
FastVector< sharedFactor >	factors_
	concept check, makes sure FACTOR defines print and equals More...

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.

◆ begin()

template<class FACTOR>

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

inline

Iterator to beginning of factors.

◆ 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()

template<class FACTOR>

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

inline

Iterator to end of factors.

◆ equals()

template<class FACTOR >

bool gtsam::FactorGraph< FACTOR >::equals	(	const This &	fg,
		double	tol = `1e-9`
	)		const

Check equality.

check whether the two factor graphs have the same number of factors_

check whether the factors_ are the same

◆ operator+=()

template<class FACTOR>

template<class FACTOR_OR_CONTAINER >

boost::assign::list_inserter<CRefCallPushBack<This> > gtsam::FactorGraph< FACTOR >::operator+= ( const FACTOR_OR_CONTAINER & factorOrContainer )

inline

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

◆ push_back() [1/2]

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.

◆ push_back() [2/2]

template<class FACTOR>

template<class DERIVEDFACTOR >

std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type 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).

◆ resize()

template<class FACTOR>

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

inline

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:

/Users/dellaert/git/gtsam/gtsam/inference/BayesTree.h
/Users/dellaert/git/gtsam/gtsam/inference/FactorGraph.h
/Users/dellaert/git/gtsam/gtsam/inference/FactorGraph-inst.h

Detailed Description

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

Standard Constructors

Adding Factors

Testable

Standard Interface

Modifying Factor Graphs (imperative, discouraged)

Advanced Interface

Public Types

Protected Attributes

Member Function Documentation

◆ add()

◆ begin()

◆ empty()

◆ end()

◆ equals()

◆ operator+=()

◆ push_back() [1/2]

◆ push_back() [2/2]

◆ resize()

◆ size()

Member Data Documentation

◆ factors_

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