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gtsam::SymbolicFactorGraph Class Reference

## Detailed Description

Symbolic Factor Graph.

Inheritance diagram for gtsam::SymbolicFactorGraph:

## Standard Constructors

| SymbolicFactorGraph ()
| Construct empty factor graph.
template<typename ITERATOR>
| SymbolicFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
| Construct from iterator over factors.
template<class CONTAINER>
| SymbolicFactorGraph (const CONTAINER &factors)
| Construct from container of factors (shared_ptr or plain objects).
template<class DERIVEDFACTOR>
| SymbolicFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)
| Implicit copy/downcast constructor to override explicit template container constructor.
| SymbolicFactorGraph (std::initializer_list< boost::shared_ptr< SymbolicFactor > > sharedFactors)
| Constructor that takes an initializer list of shared pointers.
| SymbolicFactorGraph (SymbolicFactor &&c)
| Construct from a single factor.
SymbolicFactorGraph & | operator() (SymbolicFactor &&c)
| Add a single factor and return a reference.
virtual | ~SymbolicFactorGraph ()
| Destructor.

## Testable

bool | equals (const This &fg, double tol=1e-9) const
void | print (const std::string &s="SymbolicFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override
| print

## Standard Interface

void | push_factor (Key key)
| Push back unary factor.
void | push_factor (Key key1, Key key2)
| Push back binary factor.
void | push_factor (Key key1, Key key2, Key key3)
| Push back ternary factor.
void | push_factor (Key key1, Key key2, Key key3, Key key4)
| Push back 4-way factor.

## Public Types

typedef SymbolicFactorGraph | This
| Typedef to this class.
typedef FactorGraph< SymbolicFactor > | Base
| Typedef to base factor graph type.
typedef EliminateableFactorGraph< This > | BaseEliminateable
| Typedef to base elimination class.
typedef boost::shared_ptr< This > | shared_ptr
| shared_ptr to this class
Public Types inherited from gtsam::FactorGraph< SymbolicFactor >
typedef SymbolicFactor | FactorType
| factor type
typedef boost::shared_ptr< SymbolicFactor > | sharedFactor
| Shared pointer to a factor.
typedef sharedFactor | value_type
typedef FastVector< sharedFactor >::iterator | iterator
typedef FastVector< sharedFactor >::const_iterator | const_iterator
Public Types inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph >
typedef EliminationTraits< FactorGraphType > | EliminationTraitsType
| Typedef to the specific EliminationTraits for this graph.
typedef EliminationTraitsType::ConditionalType | ConditionalType
| Conditional type stored in the Bayes net produced by elimination.
typedef EliminationTraitsType::BayesNetType | BayesNetType
| Bayes net type produced by sequential elimination.
typedef EliminationTraitsType::EliminationTreeType | EliminationTreeType
| Elimination tree type that can do sequential elimination of this graph.
typedef EliminationTraitsType::BayesTreeType | BayesTreeType
| Bayes tree type produced by multifrontal elimination.
typedef EliminationTraitsType::JunctionTreeType | JunctionTreeType
| Junction tree type that can do multifrontal elimination of this graph.
typedef std::pair< boost::shared_ptr< ConditionalType >, boost::shared_ptr< _FactorType > > | EliminationResult
| The pair of conditional and remaining factor produced by a single dense elimination step on a subgraph.
typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)> | Eliminate
| The function type that does a single dense elimination step on a subgraph.
typedef boost::optional< const VariableIndex & > | OptionalVariableIndex
| Typedef for an optional variable index as an argument to elimination functions.
typedef boost::optional< Ordering::OrderingType > | OptionalOrderingType
| Typedef for an optional ordering type.

## Friends

class | boost::serialization::access
| Serialization function.

## Additional Inherited Members

Public Member Functions inherited from gtsam::FactorGraph< SymbolicFactor >
virtual | ~FactorGraph ()=default
| Default destructor Public and virtual so boost serialization can call it.
| FactorGraph (std::initializer_list< boost::shared_ptr< DERIVEDFACTOR > > sharedFactors)
| Constructor that takes an initializer list of shared pointers.
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 > | 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).
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.
HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor)
| Push back many factors with an iterator over shared_ptr (factors are not copied).
HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor)
| Push back many factors with an iterator (factors are copied).
HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container)
| Push back many factors as shared_ptr's in a container (factors are not copied).
HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container)
| Push back non-pointer objects in a container (factors are copied).
void | add (const FACTOR_OR_CONTAINER &factorOrContainer)
| Add a factor or container of factors, including STL collections, BayesTrees, etc.
boost::assign::list_inserter< CRefCallPushBack< This > > | operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)
| Add a factor or container of factors, including STL collections, BayesTrees, etc.
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.
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.
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).
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.
double | error (const HybridValues &values) const
| Add error for all factors.
iterator | begin ()
| non-const STL-style begin()
iterator | end ()
| non-const STL-style end()
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.
iterator | erase (iterator first, iterator last)
| Erase factors 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.
std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
| Output to graphviz format string.
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 Member Functions inherited from gtsam::EliminateableFactorGraph< SymbolicFactorGraph >
boost::shared_ptr< BayesNetType > | eliminateSequential (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Do sequential elimination of all variables to produce a Bayes net.
boost::shared_ptr< BayesTreeType > | eliminateMultifrontal (OptionalOrderingType orderingType=boost::none, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Do multifrontal elimination of all variables to produce a Bayes tree.
std::pair< boost::shared_ptr< BayesNetType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Do sequential elimination of some variables, in `ordering` provided, to produce a Bayes net and a remaining factor graph.
std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > > | eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Do multifrontal elimination of some variables, in `ordering` provided, to produce a Bayes tree and a remaining factor graph.
boost::shared_ptr< BayesNetType > | marginalMultifrontalBayesNet (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Compute the marginal of the requested variables and return the result as a Bayes net.
boost::shared_ptr< BayesTreeType > | marginalMultifrontalBayesTree (boost::variant< const Ordering &, const KeyVector & > variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Compute the marginal of the requested variables and return the result as a Bayes tree.
boost::shared_ptr< FactorGraphType > | marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex=boost::none) const
| Compute the marginal factor graph of the requested variables.
Protected Member Functions inherited from gtsam::FactorGraph< SymbolicFactor >
bool | isEqual (const FactorGraph &other) const
| Check exact equality of the factor pointers. Useful for derived ==.
| 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< SymbolicFactor >
FastVector< sharedFactor > | factors_
| concept check, makes sure FACTOR defines print and equals

## Constructor & Destructor Documentation

## SymbolicFactorGraph()

gtsam::SymbolicFactorGraph::SymbolicFactorGraph | ( | std::initializer_list< boost::shared_ptr< SymbolicFactor > > | sharedFactors | ) |

inline

Constructor that takes an initializer list of shared pointers.

FactorGraph fg = {make_shared<MyFactor>(), ...};

## Member Function Documentation

## operator()()

SymbolicFactorGraph & gtsam::SymbolicFactorGraph::operator() | ( | SymbolicFactor && | c | ) |

inline

Add a single factor and return a reference.

This allows for chaining, e.g., SymbolicFactorGraph bn = SymbolicFactorGraph(SymbolicFactor(...))(SymbolicFactor(...));

## print()

void gtsam::SymbolicFactorGraph::print | ( | const std::string & | s = "SymbolicFactorGraph",
|  | const KeyFormatter & | formatter = DefaultKeyFormatter ) const

inline override virtual

print

Reimplemented from gtsam::FactorGraph< SymbolicFactor >.

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

- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/symbolic/SymbolicFactorGraph.h
- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/symbolic/SymbolicFactorGraph.cpp