function to save graph as graphviz file via wrapper
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0527a83674
commit
e8897ba1d8
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@ -2041,6 +2041,7 @@ class NonlinearFactorGraph {
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// enabling serialization functionality
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void serialize() const;
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void saveGraph(const string& s) const;
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};
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#include <gtsam/nonlinear/NonlinearFactor.h>
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@ -34,6 +34,7 @@
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#endif
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#include <cmath>
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#include <fstream>
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#include <limits>
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using namespace std;
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@ -256,6 +257,16 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
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stm << "}\n";
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}
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/* ************************************************************************* */
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void NonlinearFactorGraph::saveGraph(
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const std::string& file, const Values& values,
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const GraphvizFormatting& graphvizFormatting,
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const KeyFormatter& keyFormatter) const {
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std::ofstream of(file);
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saveGraph(of, values, graphvizFormatting, keyFormatter);
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of.close();
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}
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/* ************************************************************************* */
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double NonlinearFactorGraph::error(const Values& values) const {
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gttic(NonlinearFactorGraph_error);
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@ -11,7 +11,7 @@
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/**
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* @file NonlinearFactorGraph.h
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* @brief Factor Graph Constsiting of non-linear factors
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* @brief Factor Graph consisting of non-linear factors
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* @author Frank Dellaert
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* @author Carlos Nieto
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* @author Christian Potthast
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@ -115,6 +115,11 @@ namespace gtsam {
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void saveGraph(std::ostream& stm, const Values& values = Values(),
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const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/** Write the graph in GraphViz format to file for visualization */
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void saveGraph(const std::string& file, const Values& values = Values(),
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const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
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double error(const Values& values) const;
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