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Show factor graph in notebook

release/4.3a0
Frank Dellaert 2021-12-20 00:19:35 -05:00
parent 9d2b627c09
commit a5351137ab
3 changed files with 218 additions and 6 deletions
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15
gtsam/discrete/discrete.i
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@ -106,6 +106,11 @@ class DiscreteBayesTree {
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
}; };
#include <gtsam/inference/DotWriter.h>
class DotWriter {
DotWriter();
};
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
class DiscreteFactorGraph { class DiscreteFactorGraph {
DiscreteFactorGraph(); DiscreteFactorGraph();
@ -122,7 +127,15 @@ class DiscreteFactorGraph {
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::DiscreteFactorGraph& fg, double tol = 1e-9) const; bool equals(const gtsam::DiscreteFactorGraph& fg, double tol = 1e-9) const;
string dot(const gtsam::DotWriter& dotWriter = gtsam::DotWriter(),
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void saveGraph(string s,
const gtsam::DotWriter& dotWriter = gtsam::DotWriter(),
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
gtsam::DecisionTreeFactor product() const; gtsam::DecisionTreeFactor product() const;
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
gtsam::DiscreteValues optimize() const; gtsam::DiscreteValues optimize() const;

33
python/gtsam/notebooks/DiscreteBayesTree.ipynb
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176
python/gtsam/notebooks/DiscreteSwitching.ipynb Normal file
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