gtsam 4.2.0
gtsam
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gtsam::GraphvizFormatting Struct Reference

Detailed Description

Formatting options and functions for saving a NonlinearFactorGraph instance in GraphViz format.

+ Inheritance diagram for gtsam::GraphvizFormatting:

Public Member Functions

 GraphvizFormatting ()
 Default constructor sets up robot coordinates.
 
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.
 
- Public Member Functions inherited from gtsam::DotWriter
 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.
 
- Public Attributes inherited from gtsam::DotWriter
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.
 
std::set< Keyboxes
 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 Public Member Functions inherited from gtsam::DotWriter
static void DrawFactor (size_t i, const boost::optional< Vector2 > &position, std::ostream *os)
 Create factor dot.
 

Constructor & Destructor Documentation

◆ GraphvizFormatting()

gtsam::GraphvizFormatting::GraphvizFormatting ( )
inline

Default constructor sets up robot coordinates.

Paper horizontal is robot Y, paper vertical is robot X. Default figure size of 5x5 in.


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