Add dot in all wrappers

gtsam/discrete/discrete.i

@@ -157,6 +157,10 @@ class DiscreteBayesNet {
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const;
+  double operator()(const gtsam::DiscreteValues& values) const;
+  gtsam::DiscreteValues sample() const;
+  gtsam::DiscreteValues sample(gtsam::DiscreteValues given) const;
+
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
@@ -164,9 +168,6 @@ class DiscreteBayesNet {
       string s,
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
-  double operator()(const gtsam::DiscreteValues& values) const;
-  gtsam::DiscreteValues sample() const;
-  gtsam::DiscreteValues sample(gtsam::DiscreteValues given) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
@@ -256,14 +257,6 @@ class DiscreteFactorGraph {
   void print(string s = "") const;
   bool equals(const gtsam::DiscreteFactorGraph& fg, double tol = 1e-9) const;
 
-  string dot(
-      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      const gtsam::DotWriter& dotWriter = gtsam::DotWriter()) const;
-  void saveGraph(
-      string s,
-      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      const gtsam::DotWriter& dotWriter = gtsam::DotWriter()) const;
-
   gtsam::DecisionTreeFactor product() const;
   double operator()(const gtsam::DiscreteValues& values) const;
   gtsam::DiscreteValues optimize() const;
@@ -285,6 +278,14 @@ class DiscreteFactorGraph {
   std::pair<gtsam::DiscreteBayesTree, gtsam::DiscreteFactorGraph>
       eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
 
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,

gtsam/inference/inference.i

@@ -131,6 +131,7 @@ class DotWriter {
   std::map<gtsam::Key, gtsam::Vector2> variablePositions;
   std::map<char, double> positionHints;
   std::set<Key> boxes;
+  std::map<size_t, gtsam::Vector2> factorPositions;
 };
 
 #include <gtsam/inference/VariableIndex.h>

gtsam/linear/linear.i

@@ -437,6 +437,14 @@ class GaussianFactorGraph {
   pair<Matrix,Vector> hessian() const;
   pair<Matrix,Vector> hessian(const gtsam::Ordering& ordering) const;
 
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+
   // enabling serialization functionality
   void serialize() const;
 };
@@ -527,6 +535,14 @@ virtual class GaussianBayesNet {
   double logDeterminant() const;
   gtsam::VectorValues backSubstitute(const gtsam::VectorValues& gx) const;
   gtsam::VectorValues backSubstituteTranspose(const gtsam::VectorValues& gx) const;
+
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
 #include <gtsam/linear/GaussianBayesTree.h>

gtsam/nonlinear/nonlinear.i

@@ -95,18 +95,17 @@ class NonlinearFactorGraph {
   gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
   gtsam::NonlinearFactorGraph clone() const;
 
-  // enabling serialization functionality
-  void serialize() const;
-
   string dot(
       const gtsam::Values& values,
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
       const GraphvizFormatting& writer = GraphvizFormatting());
-  void saveGraph(const string& s, const gtsam::Values& values,
+  void saveGraph(
-                 const gtsam::KeyFormatter& keyFormatter =
+      const string& s, const gtsam::Values& values,
-                     gtsam::DefaultKeyFormatter,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-                 const GraphvizFormatting& writer =
+      const GraphvizFormatting& writer = GraphvizFormatting()) const;
-                     GraphvizFormatting()) const;
+
+  // enabling serialization functionality
+  void serialize() const;
 };
 
 #include <gtsam/nonlinear/NonlinearFactor.h>

gtsam/symbolic/symbolic.i

@@ -77,6 +77,14 @@ virtual class SymbolicFactorGraph {
       const gtsam::KeyVector& key_vector,
       const gtsam::Ordering& marginalizedVariableOrdering);
   gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector);
+
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
 #include <gtsam/symbolic/SymbolicConditional.h>
@@ -121,6 +129,14 @@ class SymbolicBayesNet {
   gtsam::SymbolicConditional* back() const;
   void push_back(gtsam::SymbolicConditional* conditional);
   void push_back(const gtsam::SymbolicBayesNet& bayesNet);
+
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
 #include <gtsam/symbolic/SymbolicBayesTree.h>