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.

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.

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, typenameCLIQUE::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
virtual void	print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print out graph More...
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).
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.
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.

Public Member Functions
virtual	~FactorGraph ()=default
	Default destructor.

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

print()

template<class FACTOR >

void gtsam::FactorGraph< FACTOR >::print ( const std::string &  s = "FactorGraph< FACTOR >", const KeyFormatter &  formatter = DefaultKeyFormatter  ) const

virtual

print out graph

Reimplemented in gtsam::GaussianBayesNet, gtsam::BayesNet< CONDITIONAL >, gtsam::BayesNet< DiscreteConditional >, gtsam::DiscreteFactorGraph, gtsam::Scheduler, gtsam::SymbolicBayesNet, gtsam::SymbolicFactorGraph, gtsam::InequalityFactorGraph, and gtsam::NonlinearFactorGraph.

push_back()

template<class FACTOR >

template<class CLIQUE >

std::enable_if< std::is_base_of< This, typenameCLIQUE::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

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

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