Detailed Description

Formatting options when saving in GraphViz format using NonlinearFactorGraph::saveGraph.

Public Member Functions
	GraphvizFormatting ()
	Default constructor sets up robot coordinates. More...

Public Attributes
Axis	paperHorizontalAxis
	The world axis assigned to the horizontal paper axis.

Axis	paperVerticalAxis
	The world axis assigned to the vertical paper axis.

double	figureWidthInches
	The figure width on paper in inches.

double	figureHeightInches
	The figure height on paper in inches.

double	scale
	Scale all positions to reduce / increase density.

bool	mergeSimilarFactors
	Merge multiple factors that have the same connectivity.

bool	plotFactorPoints
	Plots each factor as a dot between the variables.

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

bool	binaryEdges
	just use non-dotted edges for binary factors

std::map< size_t, Point2 >	factorPositions
	(optional for each factor) Manually specify factor "dot" positions. More...

Constructor & Destructor Documentation

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.

std::map<size_t, Point2> gtsam::GraphvizFormatting::factorPositions

(optional for each factor) Manually specify factor "dot" positions.

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