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gtsam::EqualityFactorGraph Class Reference
Detailed Description
Collection of all Linear Equality constraints Ax=b of a Programming problem as a Factor Graph.
Inheritance diagram for gtsam::EqualityFactorGraph:
Public Member Functions | |
| template<class... Args> | |
| void | add (Args &&... args) |
| Add a linear inequality, forwards arguments to LinearInequality. | |
| double | error (const VectorValues &x) const |
| Compute error of a guess. | |
| Public Member Functions inherited from gtsam::FactorGraph< LinearEquality > | |
| virtual | ~FactorGraph ()=default |
| Default destructor Public and virtual so boost serialization can call it. | |
| 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). | |
| IsDerived< DERIVEDFACTOR > | push_back (boost::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr. | |
| IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type. | |
| IsDerived< DERIVEDFACTOR > | add (boost::shared_ptr< DERIVEDFACTOR > factor) |
| add is a synonym for push_back. | |
| 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. | |
| 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. | |
| virtual void | print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| Print out graph to std::cout, with optional key formatter. | |
| bool | equals (const This &fg, double tol=1e-9) const |
| Check equality up to tolerance. | |
| 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). | |
| 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). | |
| 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. | |
| double | error (const HybridValues &values) const |
| Add error for all factors. | |
| virtual void | resize (size_t size) |
| Directly resize the number of factors in the graph. | |
| 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. | |
| void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version. | |
| void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format. | |
| 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< EqualityFactorGraph > | shared_ptr |
| Public Types inherited from gtsam::FactorGraph< LinearEquality > | |
| typedef LinearEquality | FactorType |
| factor type | |
| typedef boost::shared_ptr< LinearEquality > | sharedFactor |
| 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< LinearEquality > | |
| bool | isEqual (const FactorGraph &other) const |
| Check exact equality of the factor pointers. Useful for derived ==. | |
| FactorGraph () | |
| Default constructor. | |
| Protected Attributes inherited from gtsam::FactorGraph< LinearEquality > | |
| FastVector< sharedFactor > | factors_ |
| concept check, makes sure FACTOR defines print and equals | |
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/linear/EqualityFactorGraph.h
