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NonlinearFactorGraph saveGraph #632

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merged 2 commits into from
Dec 8, 2020
Merged

NonlinearFactorGraph saveGraph #632

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e8897ba
function to save graph as graphviz file via wrapper
varunagrawal Dec 5, 2020
24f915d
better documentation
varunagrawal Dec 8, 2020
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1 change: 1 addition & 0 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -2041,6 +2041,7 @@ class NonlinearFactorGraph {

// enabling serialization functionality
void serialize() const;
void saveGraph(const string& s) const;
};

#include <gtsam/nonlinear/NonlinearFactor.h>
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11 changes: 11 additions & 0 deletions gtsam/nonlinear/NonlinearFactorGraph.cpp
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Expand Up @@ -34,6 +34,7 @@
#endif

#include <cmath>
#include <fstream>
#include <limits>

using namespace std;
Expand Down Expand Up @@ -256,6 +257,16 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
stm << "}\n";
}

/* ************************************************************************* */
void NonlinearFactorGraph::saveGraph(
const std::string& file, const Values& values,
const GraphvizFormatting& graphvizFormatting,
const KeyFormatter& keyFormatter) const {
std::ofstream of(file);
saveGraph(of, values, graphvizFormatting, keyFormatter);
of.close();
}

/* ************************************************************************* */
double NonlinearFactorGraph::error(const Values& values) const {
gttic(NonlinearFactorGraph_error);
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14 changes: 12 additions & 2 deletions gtsam/nonlinear/NonlinearFactorGraph.h
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Expand Up @@ -11,7 +11,7 @@

/**
* @file NonlinearFactorGraph.h
* @brief Factor Graph Constsiting of non-linear factors
* @brief Factor Graph consisting of non-linear factors
* @author Frank Dellaert
* @author Carlos Nieto
* @author Christian Potthast
Expand Down Expand Up @@ -111,11 +111,21 @@ namespace gtsam {
/** Test equality */
bool equals(const NonlinearFactorGraph& other, double tol = 1e-9) const;

/** Write the graph in GraphViz format for visualization */
/// Write the graph in GraphViz format for visualization
void saveGraph(std::ostream& stm, const Values& values = Values(),
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

/**
* Write the graph in GraphViz format to file for visualization.
*
* This is a wrapper friendly version since wrapped languages don't have
* access to C++ streams.
*/
void saveGraph(const std::string& file, const Values& values = Values(),
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

/** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
double error(const Values& values) const;

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