gtsam 4.2.0
gtsam
|
Formatting options and functions for saving a NonlinearFactorGraph instance in GraphViz format.
Public Member Functions | |
GraphvizFormatting () | |
Default constructor sets up robot coordinates. More... | |
Vector2 | findBounds (const Values &values, const KeySet &keys) const |
boost::optional< Vector2 > | extractPosition (const Value &value) const |
Extract a Vector2 from either Vector2, Pose2, Pose3, or Point3. | |
boost::optional< Vector2 > | variablePos (const Values &values, const Vector2 &min, Key key) const |
Return affinely transformed variable position if it exists. | |
boost::optional< Vector2 > | factorPos (const Vector2 &min, size_t i) const |
Return affinely transformed factor position if it exists. | |
![]() | |
DotWriter (double figureWidthInches=5, double figureHeightInches=5, bool plotFactorPoints=true, bool connectKeysToFactor=true, bool binaryEdges=false) | |
void | graphPreamble (std::ostream *os) const |
Write out preamble for graph, including size. | |
void | digraphPreamble (std::ostream *os) const |
Write out preamble for digraph, including size. | |
void | drawVariable (Key key, const KeyFormatter &keyFormatter, const boost::optional< Vector2 > &position, std::ostream *os) const |
Create a variable dot fragment. | |
boost::optional< Vector2 > | variablePos (Key key) const |
Return variable position or none. | |
void | processFactor (size_t i, const KeyVector &keys, const KeyFormatter &keyFormatter, const boost::optional< Vector2 > &position, std::ostream *os) const |
Draw a single factor, specified by its index i and its variable keys. | |
Public Attributes | |
Axis | paperHorizontalAxis |
The world axis assigned to the horizontal paper axis. | |
Axis | paperVerticalAxis |
The world axis assigned to the vertical paper axis. | |
double | scale |
Scale all positions to reduce / increase density. | |
bool | mergeSimilarFactors |
Merge multiple factors that have the same connectivity. | |
![]() | |
double | figureWidthInches |
The figure width on paper in inches. | |
double | figureHeightInches |
The figure height on paper in inches. | |
bool | plotFactorPoints |
Plots each factor as a dot between the variables. | |
bool | connectKeysToFactor |
Draw a line from each key within a factor to the dot of the factor. | |
bool | binaryEdges |
just use non-dotted edges for binary factors | |
std::map< Key, Vector2 > | variablePositions |
Variable positions can be optionally specified and will be included in the dot file with a "!' sign, so "neato" can use it to render them. | |
std::map< char, double > | positionHints |
The position hints allow one to use symbol character and index to specify position. More... | |
std::set< Key > | boxes |
A set of keys that will be displayed as a box. | |
std::map< size_t, Vector2 > | factorPositions |
Factor positions can be optionally specified and will be included in the dot file with a "!' sign, so "neato" can use it to render them. | |
Public Types | |
enum | Axis { X , Y , Z , NEGX , NEGY , NEGZ } |
World axes to be assigned to paper axes. | |
Additional Inherited Members | |
![]() | |
static void | DrawFactor (size_t i, const boost::optional< Vector2 > &position, std::ostream *os) |
Create factor dot. | |
|
inline |
Default constructor sets up robot coordinates.
Paper horizontal is robot Y, paper vertical is robot X. Default figure size of 5x5 in.