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switch formatter and writer arguments

release/4.3a0
Frank Dellaert 2021-12-25 13:51:13 -05:00
parent 501a6dbd3b
commit c27cd7a2e8
7 changed files with 78 additions and 55 deletions
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18
gtsam/discrete/discrete.i
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@ -133,7 +133,9 @@ class DiscreteBayesTree {
#include <gtsam/inference/DotWriter.h> #include <gtsam/inference/DotWriter.h>
class DotWriter { class DotWriter {
DotWriter(); DotWriter(double figureWidthInches = 5, double figureHeightInches = 5,
bool plotFactorPoints = true, bool connectKeysToFactor = true,
bool binaryEdges = true);
}; };
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
@ -153,13 +155,13 @@ 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(), string dot(
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
gtsam::DefaultKeyFormatter) const; const gtsam::DotWriter& dotWriter = gtsam::DotWriter()) const;
void saveGraph(string s, void saveGraph(
const gtsam::DotWriter& dotWriter = gtsam::DotWriter(), string s,
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
gtsam::DefaultKeyFormatter) const; const gtsam::DotWriter& dotWriter = gtsam::DotWriter()) const;
gtsam::DecisionTreeFactor product() const; gtsam::DecisionTreeFactor product() const;
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;

15
gtsam/inference/DotWriter.h
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@ -35,12 +35,15 @@ struct GTSAM_EXPORT DotWriter {
///< the dot of the factor ///< the dot of the factor
bool binaryEdges; ///< just use non-dotted edges for binary factors bool binaryEdges; ///< just use non-dotted edges for binary factors
DotWriter() explicit DotWriter(double figureWidthInches = 5,
: figureWidthInches(5), double figureHeightInches = 5,
figureHeightInches(5), bool plotFactorPoints = true,
plotFactorPoints(true), bool connectKeysToFactor = true, bool binaryEdges = true)
connectKeysToFactor(true), : figureWidthInches(figureWidthInches),
binaryEdges(true) {} figureHeightInches(figureHeightInches),
plotFactorPoints(plotFactorPoints),
connectKeysToFactor(connectKeysToFactor),
binaryEdges(binaryEdges) {}
/// Write out preamble, including size. /// Write out preamble, including size.
void writePreamble(std::ostream* os) const; void writePreamble(std::ostream* os) const;

17
gtsam/inference/FactorGraph-inst.h
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@ -128,8 +128,9 @@ FactorIndices FactorGraph<FACTOR>::add_factors(const CONTAINER& factors,
/* ************************************************************************* */ /* ************************************************************************* */
template <class FACTOR> template <class FACTOR>
void FactorGraph<FACTOR>::dot(std::ostream& os, const DotWriter& writer, void FactorGraph<FACTOR>::dot(std::ostream& os,
const KeyFormatter& keyFormatter) const { const KeyFormatter& keyFormatter,
const DotWriter& writer) const {
writer.writePreamble(&os); writer.writePreamble(&os);
// Create nodes for each variable in the graph // Create nodes for each variable in the graph
@ -153,20 +154,20 @@ void FactorGraph<FACTOR>::dot(std::ostream& os, const DotWriter& writer,
/* ************************************************************************* */ /* ************************************************************************* */
template <class FACTOR> template <class FACTOR>
std::string FactorGraph<FACTOR>::dot(const DotWriter& writer, std::string FactorGraph<FACTOR>::dot(const KeyFormatter& keyFormatter,
const KeyFormatter& keyFormatter) const { const DotWriter& writer) const {
std::stringstream ss; std::stringstream ss;
dot(ss, writer, keyFormatter); dot(ss, keyFormatter, writer);
return ss.str(); return ss.str();
} }
/* ************************************************************************* */ /* ************************************************************************* */
template <class FACTOR> template <class FACTOR>
void FactorGraph<FACTOR>::saveGraph(const std::string& filename, void FactorGraph<FACTOR>::saveGraph(const std::string& filename,
const DotWriter& writer, const KeyFormatter& keyFormatter,
const KeyFormatter& keyFormatter) const { const DotWriter& writer) const {
std::ofstream of(filename.c_str()); std::ofstream of(filename.c_str());
dot(of, writer, keyFormatter); dot(of, keyFormatter, writer);
of.close(); of.close();
} }

13
gtsam/inference/FactorGraph.h
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@ -378,17 +378,18 @@ class FactorGraph {
/// @{ /// @{
/// Output to graphviz format, stream version. /// Output to graphviz format, stream version.
void dot(std::ostream& os, const DotWriter& writer = DotWriter(), void dot(std::ostream& os,
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const DotWriter& writer = DotWriter()) const;
/// Output to graphviz format string. /// Output to graphviz format string.
std::string dot(const DotWriter& writer = DotWriter(), std::string dot(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const DotWriter& writer = DotWriter()) const;
/// output to file with graphviz format. /// output to file with graphviz format.
void saveGraph(const std::string& filename, void saveGraph(const std::string& filename,
const DotWriter& writer = DotWriter(), const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const DotWriter& writer = DotWriter()) const;
/// @} /// @}
/// @name Advanced Interface /// @name Advanced Interface

23
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -26,7 +26,6 @@
#include <gtsam/linear/linearExceptions.h> #include <gtsam/linear/linearExceptions.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
#include <gtsam/inference/Ordering.h> #include <gtsam/inference/Ordering.h>
#include <gtsam/inference/DotWriter.h>
#include <gtsam/inference/FactorGraph-inst.h> #include <gtsam/inference/FactorGraph-inst.h>
#include <gtsam/config.h> // for GTSAM_USE_TBB #include <gtsam/config.h> // for GTSAM_USE_TBB
@ -92,8 +91,8 @@ bool NonlinearFactorGraph::equals(const NonlinearFactorGraph& other, double tol)
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearFactorGraph::dot(std::ostream& os, const Values& values, void NonlinearFactorGraph::dot(std::ostream& os, const Values& values,
const GraphvizFormatting& writer, const KeyFormatter& keyFormatter,
const KeyFormatter& keyFormatter) const { const GraphvizFormatting& writer) const {
writer.writePreamble(&os); writer.writePreamble(&os);
// Find bounds (imperative) // Find bounds (imperative)
@ -139,21 +138,21 @@ void NonlinearFactorGraph::dot(std::ostream& os, const Values& values,
} }
/* ************************************************************************* */ /* ************************************************************************* */
std::string NonlinearFactorGraph::dot( std::string NonlinearFactorGraph::dot(const Values& values,
const Values& values, const GraphvizFormatting& writer, const KeyFormatter& keyFormatter,
const KeyFormatter& keyFormatter) const { const GraphvizFormatting& writer) const {
std::stringstream ss; std::stringstream ss;
dot(ss, values, writer, keyFormatter); dot(ss, values, keyFormatter, writer);
return ss.str(); return ss.str();
} }
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearFactorGraph::saveGraph( void NonlinearFactorGraph::saveGraph(const std::string& filename,
const std::string& filename, const Values& values, const Values& values,
const GraphvizFormatting& writer, const KeyFormatter& keyFormatter,
const KeyFormatter& keyFormatter) const { const GraphvizFormatting& writer) const {
std::ofstream of(filename); std::ofstream of(filename);
dot(of, values, writer, keyFormatter); dot(of, values, keyFormatter, writer);
of.close(); of.close();
} }

34
gtsam/nonlinear/NonlinearFactorGraph.h
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@ -213,23 +213,22 @@ namespace gtsam {
using FactorGraph::saveGraph; using FactorGraph::saveGraph;
/// Output to graphviz format, stream version, with Values/extra options. /// Output to graphviz format, stream version, with Values/extra options.
void dot( void dot(std::ostream& os, const Values& values,
std::ostream& os, const Values& values, const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const GraphvizFormatting& graphvizFormatting =
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; GraphvizFormatting()) const;
/// Output to graphviz format string, with Values/extra options. /// Output to graphviz format string, with Values/extra options.
std::string dot( std::string dot(const Values& values,
const Values& values, const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const GraphvizFormatting& graphvizFormatting =
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; GraphvizFormatting()) const;
/// output to file with graphviz format, with Values/extra options. /// output to file with graphviz format, with Values/extra options.
void saveGraph( void saveGraph(const std::string& filename, const Values& values,
const std::string& filename, const Values& values, const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const GraphvizFormatting& graphvizFormatting =
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; GraphvizFormatting()) const;
/// @} /// @}
private: private:
@ -267,7 +266,14 @@ namespace gtsam {
std::ostream& os, const Values& values = Values(), std::ostream& os, const Values& values = Values(),
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
dot(os, values, graphvizFormatting, keyFormatter); dot(os, values, keyFormatter, graphvizFormatting);
}
/** \deprecated */
void GTSAM_DEPRECATED saveGraph(
const std::string& filename, const Values& values,
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
saveGraph(filename, values, keyFormatter, graphvizFormatting);
} }
#endif #endif

13
gtsam/nonlinear/nonlinear.i
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@ -193,7 +193,12 @@ class NonlinearFactorGraph {
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
void saveGraph(const string& s) const; string dot(
const gtsam::Values& values,
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void saveGraph(const string& s, const gtsam::Values& values,
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
@ -782,6 +787,12 @@ class ISAM2 {
void printStats() const; void printStats() const;
gtsam::VectorValues gradientAtZero() const; gtsam::VectorValues gradientAtZero() const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void saveGraph(string s,
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/nonlinear/NonlinearISAM.h> #include <gtsam/nonlinear/NonlinearISAM.h>