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function to save graph as graphviz file via wrapper

release/4.3a0
Varun Agrawal 2020-12-05 12:13:58 -05:00
parent 0527a83674
commit e8897ba1d8
3 changed files with 18 additions and 1 deletions
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1
gtsam/gtsam.i
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@ -2041,6 +2041,7 @@ class NonlinearFactorGraph {
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
void saveGraph(const string& s) const;
}; };
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>

11
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -34,6 +34,7 @@
#endif #endif
#include <cmath> #include <cmath>
#include <fstream>
#include <limits> #include <limits>
using namespace std; using namespace std;
@ -256,6 +257,16 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
stm << "}\n"; stm << "}\n";
} }
/* ************************************************************************* */
void NonlinearFactorGraph::saveGraph(
const std::string& file, const Values& values,
const GraphvizFormatting& graphvizFormatting,
const KeyFormatter& keyFormatter) const {
std::ofstream of(file);
saveGraph(of, values, graphvizFormatting, keyFormatter);
of.close();
}
/* ************************************************************************* */ /* ************************************************************************* */
double NonlinearFactorGraph::error(const Values& values) const { double NonlinearFactorGraph::error(const Values& values) const {
gttic(NonlinearFactorGraph_error); gttic(NonlinearFactorGraph_error);

7
gtsam/nonlinear/NonlinearFactorGraph.h
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@ -11,7 +11,7 @@
/** /**
* @file NonlinearFactorGraph.h * @file NonlinearFactorGraph.h
* @brief Factor Graph Constsiting of non-linear factors * @brief Factor Graph consisting of non-linear factors
* @author Frank Dellaert * @author Frank Dellaert
* @author Carlos Nieto * @author Carlos Nieto
* @author Christian Potthast * @author Christian Potthast
@ -116,6 +116,11 @@ namespace gtsam {
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(), const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/** Write the graph in GraphViz format to file for visualization */
void saveGraph(const std::string& file, const Values& values = Values(),
const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
double error(const Values& values) const; double error(const Values& values) const;