gtsam  4.1.0
gtsam
gtsam::FactorGraph< FACTOR > Class Template Reference

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 Single Factors

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 >
IsDerived< DERIVEDFACTOR > push_back (boost::shared_ptr< DERIVEDFACTOR > factor)
 Add a factor directly using a shared_ptr.
 
template<class DERIVEDFACTOR , class... Args>
IsDerived< DERIVEDFACTOR > emplace_shared (Args &&... args)
 Emplace a shared pointer to factor of given type.
 
template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR > 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).
 
template<class DERIVEDFACTOR >
IsDerived< DERIVEDFACTOR > add (boost::shared_ptr< DERIVEDFACTOR > factor)
 add is a synonym for push_back.
 
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)
 += works well with boost::assign list inserter.
 

Adding via iterators

template<typename ITERATOR >
HasDerivedElementType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator over shared_ptr (factors are not copied)
 
template<typename ITERATOR >
HasDerivedValueType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator (factors are copied)
 

Adding via container

template<typename CONTAINER >
HasDerivedElementType< CONTAINER > push_back (const CONTAINER &container)
 Push back many factors as shared_ptr's in a container (factors are not copied)
 
template<typename CONTAINER >
HasDerivedValueType< CONTAINER > push_back (const CONTAINER &container)
 Push back non-pointer objects in a container (factors are copied).
 
template<class FACTOR_OR_CONTAINER >
void add (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc.
 
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.
 

Specialized versions

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<typename CONTAINER , typename = HasDerivedElementType<CONTAINER>>
FactorIndices add_factors (const CONTAINER &factors, bool useEmptySlots=false)
 Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
 

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.
 

Standard Interface

size_t size () const
 return the number of factors (including any null factors set by remove() ).
 
bool empty () const
 Check if the graph is empty (null factors set by remove() will cause this to return false).
 
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.
 
const_iterator end () const
 Iterator to end of factors.
 
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 nullptr 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< sharedFactorfactors_
 concept check, makes sure FACTOR defines print and equals More...
 

Member Function Documentation

◆ push_back()

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.

◆ 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.

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: