34 enum Axis { X, Y, Z, NEGX, NEGY, NEGZ };
47 : paperHorizontalAxis(Y),
50 mergeSimilarFactors(false) {}
53 Vector2 findBounds(
const Values& values,
const KeySet& keys)
const;
56 boost::optional<Vector2> extractPosition(
const Value& value)
const;
59 boost::optional<Vector2> variablePos(
const Values& values,
const Vector2& min,
63 boost::optional<Vector2> factorPos(
const Vector2& min,
size_t i)
const;
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:100
This is the base class for any type to be stored in Values.
Definition: Value.h:37
DotWriter is a helper class for writing graphviz .dot files.
Definition: DotWriter.h:35
Formatting options and functions for saving a NonlinearFactorGraph instance in GraphViz format.
Definition: GraphvizFormatting.h:32
Axis
World axes to be assigned to paper axes.
Definition: GraphvizFormatting.h:34
Axis paperVerticalAxis
The world axis assigned to the vertical paper axis.
Definition: GraphvizFormatting.h:38
GraphvizFormatting()
Default constructor sets up robot coordinates.
Definition: GraphvizFormatting.h:46
bool mergeSimilarFactors
Merge multiple factors that have the same connectivity.
Definition: GraphvizFormatting.h:41
double scale
Scale all positions to reduce / increase density.
Definition: GraphvizFormatting.h:40
Axis paperHorizontalAxis
The world axis assigned to the horizontal paper axis.
Definition: GraphvizFormatting.h:36
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:65
In nonlinear factors, the error function returns the negative log-likelihood as a non-linear function...