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Added inference module

release/4.3a0
Frank Dellaert 2022-01-26 08:02:12 -05:00
parent 4e5a1b29a1
commit 2fda2a1c00
7 changed files with 192 additions and 155 deletions
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13
gtsam/discrete/discrete.i
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@ -228,19 +228,6 @@ class DiscreteLookupDAG {
gtsam::DiscreteValues argmax(gtsam::DiscreteValues given) const;
};
#include <gtsam/inference/DotWriter.h>
class DotWriter {
DotWriter(double figureWidthInches = 5, double figureHeightInches = 5,
bool plotFactorPoints = true, bool connectKeysToFactor = true,
bool binaryEdges = true);
double figureWidthInches;
double figureHeightInches;
bool plotFactorPoints;
bool connectKeysToFactor;
bool binaryEdges;
};
#include <gtsam/discrete/DiscreteFactorGraph.h>
class DiscreteFactorGraph {
DiscreteFactorGraph();

163
gtsam/inference/inference.i Normal file
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@ -0,0 +1,163 @@
//*************************************************************************
// inference
//*************************************************************************
namespace gtsam {
#include <gtsam/inference/Key.h>
// Default keyformatter
void PrintKeyList(
const gtsam::KeyList& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeyVector(
const gtsam::KeyVector& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeySet(
const gtsam::KeySet& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
#include <gtsam/inference/Symbol.h>
class Symbol {
Symbol();
Symbol(char c, uint64_t j);
Symbol(size_t key);
size_t key() const;
void print(const string& s = "") const;
bool equals(const gtsam::Symbol& expected, double tol) const;
char chr() const;
uint64_t index() const;
string string() const;
};
size_t symbol(char chr, size_t index);
char symbolChr(size_t key);
size_t symbolIndex(size_t key);
namespace symbol_shorthand {
size_t A(size_t j);
size_t B(size_t j);
size_t C(size_t j);
size_t D(size_t j);
size_t E(size_t j);
size_t F(size_t j);
size_t G(size_t j);
size_t H(size_t j);
size_t I(size_t j);
size_t J(size_t j);
size_t K(size_t j);
size_t L(size_t j);
size_t M(size_t j);
size_t N(size_t j);
size_t O(size_t j);
size_t P(size_t j);
size_t Q(size_t j);
size_t R(size_t j);
size_t S(size_t j);
size_t T(size_t j);
size_t U(size_t j);
size_t V(size_t j);
size_t W(size_t j);
size_t X(size_t j);
size_t Y(size_t j);
size_t Z(size_t j);
} // namespace symbol_shorthand
#include <gtsam/inference/LabeledSymbol.h>
class LabeledSymbol {
LabeledSymbol(size_t full_key);
LabeledSymbol(const gtsam::LabeledSymbol& key);
LabeledSymbol(unsigned char valType, unsigned char label, size_t j);
size_t key() const;
unsigned char label() const;
unsigned char chr() const;
size_t index() const;
gtsam::LabeledSymbol upper() const;
gtsam::LabeledSymbol lower() const;
gtsam::LabeledSymbol newChr(unsigned char c) const;
gtsam::LabeledSymbol newLabel(unsigned char label) const;
void print(string s = "") const;
};
size_t mrsymbol(unsigned char c, unsigned char label, size_t j);
unsigned char mrsymbolChr(size_t key);
unsigned char mrsymbolLabel(size_t key);
size_t mrsymbolIndex(size_t key);
#include <gtsam/inference/Ordering.h>
class Ordering {
/// Type of ordering to use
enum OrderingType { COLAMD, METIS, NATURAL, CUSTOM };
// Standard Constructors and Named Constructors
Ordering();
Ordering(const gtsam::Ordering& other);
template <FACTOR_GRAPH = {gtsam::NonlinearFactorGraph,
gtsam::GaussianFactorGraph}>
static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::Ordering& ord, double tol) const;
// Standard interface
size_t size() const;
size_t at(size_t key) const;
void push_back(size_t key);
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/inference/DotWriter.h>
class DotWriter {
DotWriter(double figureWidthInches = 5, double figureHeightInches = 5,
bool plotFactorPoints = true, bool connectKeysToFactor = true,
bool binaryEdges = true);
double figureWidthInches;
double figureHeightInches;
bool plotFactorPoints;
bool connectKeysToFactor;
bool binaryEdges;
};
#include <gtsam/inference/VariableIndex.h>
// Headers for overloaded methods below, break hierarchy :-/
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
class VariableIndex {
// Standard Constructors and Named Constructors
VariableIndex();
// TODO: Templetize constructor when wrap supports it
// template<T = {gtsam::FactorGraph}>
// VariableIndex(const T& factorGraph, size_t nVariables);
// VariableIndex(const T& factorGraph);
VariableIndex(const gtsam::SymbolicFactorGraph& sfg);
VariableIndex(const gtsam::GaussianFactorGraph& gfg);
VariableIndex(const gtsam::NonlinearFactorGraph& fg);
VariableIndex(const gtsam::VariableIndex& other);
// Testable
bool equals(const gtsam::VariableIndex& other, double tol) const;
void print(string s = "VariableIndex: ",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
// Standard interface
size_t size() const;
size_t nFactors() const;
size_t nEntries() const;
};
} // namespace gtsam

112
gtsam/nonlinear/nonlinear.i
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@ -23,121 +23,9 @@ namespace gtsam {
#include <gtsam/geometry/SOn.h>
#include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/navigation/NavState.h>
class Symbol {
Symbol();
Symbol(char c, uint64_t j);
Symbol(size_t key);
size_t key() const;
void print(const string& s = "") const;
bool equals(const gtsam::Symbol& expected, double tol) const;
char chr() const;
uint64_t index() const;
string string() const;
};
size_t symbol(char chr, size_t index);
char symbolChr(size_t key);
size_t symbolIndex(size_t key);
namespace symbol_shorthand {
size_t A(size_t j);
size_t B(size_t j);
size_t C(size_t j);
size_t D(size_t j);
size_t E(size_t j);
size_t F(size_t j);
size_t G(size_t j);
size_t H(size_t j);
size_t I(size_t j);
size_t J(size_t j);
size_t K(size_t j);
size_t L(size_t j);
size_t M(size_t j);
size_t N(size_t j);
size_t O(size_t j);
size_t P(size_t j);
size_t Q(size_t j);
size_t R(size_t j);
size_t S(size_t j);
size_t T(size_t j);
size_t U(size_t j);
size_t V(size_t j);
size_t W(size_t j);
size_t X(size_t j);
size_t Y(size_t j);
size_t Z(size_t j);
} // namespace symbol_shorthand
// Default keyformatter
void PrintKeyList(
const gtsam::KeyList& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeyVector(
const gtsam::KeyVector& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeySet(
const gtsam::KeySet& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
#include <gtsam/inference/LabeledSymbol.h>
class LabeledSymbol {
LabeledSymbol(size_t full_key);
LabeledSymbol(const gtsam::LabeledSymbol& key);
LabeledSymbol(unsigned char valType, unsigned char label, size_t j);
size_t key() const;
unsigned char label() const;
unsigned char chr() const;
size_t index() const;
gtsam::LabeledSymbol upper() const;
gtsam::LabeledSymbol lower() const;
gtsam::LabeledSymbol newChr(unsigned char c) const;
gtsam::LabeledSymbol newLabel(unsigned char label) const;
void print(string s = "") const;
};
size_t mrsymbol(unsigned char c, unsigned char label, size_t j);
unsigned char mrsymbolChr(size_t key);
unsigned char mrsymbolLabel(size_t key);
size_t mrsymbolIndex(size_t key);
#include <gtsam/inference/Ordering.h>
class Ordering {
/// Type of ordering to use
enum OrderingType {
COLAMD, METIS, NATURAL, CUSTOM
};
// Standard Constructors and Named Constructors
Ordering();
Ordering(const gtsam::Ordering& other);
template <FACTOR_GRAPH = {gtsam::NonlinearFactorGraph,
gtsam::GaussianFactorGraph}>
static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::Ordering& ord, double tol) const;
// Standard interface
size_t size() const;
size_t at(size_t key) const;
void push_back(size_t key);
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/nonlinear/GraphvizFormatting.h>
class GraphvizFormatting : gtsam::DotWriter {
GraphvizFormatting();

30
gtsam/symbolic/symbolic.i
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@ -3,11 +3,6 @@
//*************************************************************************
namespace gtsam {
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
// ###################
#include <gtsam/symbolic/SymbolicFactor.h>
virtual class SymbolicFactor {
// Standard Constructors and Named Constructors
@ -173,29 +168,4 @@ class SymbolicBayesTreeClique {
void deleteCachedShortcuts();
};
#include <gtsam/inference/VariableIndex.h>
class VariableIndex {
// Standard Constructors and Named Constructors
VariableIndex();
// TODO: Templetize constructor when wrap supports it
// template<T = {gtsam::FactorGraph}>
// VariableIndex(const T& factorGraph, size_t nVariables);
// VariableIndex(const T& factorGraph);
VariableIndex(const gtsam::SymbolicFactorGraph& sfg);
VariableIndex(const gtsam::GaussianFactorGraph& gfg);
VariableIndex(const gtsam::NonlinearFactorGraph& fg);
VariableIndex(const gtsam::VariableIndex& other);
// Testable
bool equals(const gtsam::VariableIndex& other, double tol) const;
void print(string s = "VariableIndex: ",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
// Standard interface
size_t size() const;
size_t nFactors() const;
size_t nEntries() const;
};
} // namespace gtsam

1
python/CMakeLists.txt
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@ -53,6 +53,7 @@ set(ignore
set(interface_headers
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
${PROJECT_SOURCE_DIR}/gtsam/base/base.i
${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i
${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i

15
python/gtsam/preamble/inference.h Normal file
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@ -0,0 +1,15 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
#include <pybind11/stl.h>

13
python/gtsam/specializations/inference.h Normal file
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@ -0,0 +1,13 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/