gtsam  4.0.0
gtsam
gtsam::InequalityFactorGraph Class Reference

Detailed Description

Collection of all Linear Inequality constraints Ax-b <= 0 of a Programming problem as a Factor Graph.

+ Inheritance diagram for gtsam::InequalityFactorGraph:

Public Member Functions

void print (const std::string &str, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print
 
bool equals (const InequalityFactorGraph &other, double tol=1e-9) const
 equals
 
double error (const VectorValues &x) const
 Compute error of a guess. More...
 
- Public Member Functions inherited from gtsam::FactorGraph< LinearInequality >
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).
 
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.
 
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)
 
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)
 
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...
 
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...
 
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)
 
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)
 
std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value >::type emplace_shared (Args &&... args)
 Emplace a factor.
 
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.
 
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...
 
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.
 
void add (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc. More...
 
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...
 
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).
 
sharedFactorat (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).
 
sharedFactoroperator[] (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.
 
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.
 
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 boost::shared_ptr< InequalityFactorGraphshared_ptr
 
- Public Types inherited from gtsam::FactorGraph< LinearInequality >
typedef LinearInequality FactorType
 factor type
 
typedef boost::shared_ptr< LinearInequalitysharedFactor
 Shared pointer to a factor.
 
typedef sharedFactor value_type
 
typedef FastVector< sharedFactor >::iterator iterator
 
typedef FastVector< sharedFactor >::const_iterator const_iterator
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::FactorGraph< LinearInequality >
 FactorGraph ()
 Default constructor.
 
 FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 Constructor from iterator over factors (shared_ptr or plain objects)
 
 FactorGraph (const CONTAINER &factors)
 Construct from container of factors (shared_ptr or plain objects)
 
- Protected Attributes inherited from gtsam::FactorGraph< LinearInequality >
FastVector< sharedFactorfactors_
 concept check, makes sure FACTOR defines print and equals More...
 

Member Function Documentation

◆ error()

double gtsam::InequalityFactorGraph::error ( const VectorValues x) const
inline

Compute error of a guess.

Infinity error if it violates an inequality; zero otherwise.


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