factorGraph
Bipartite graph of factors and nodes
Description
A factorGraph
object stores a bipartite graph consisting of
factors connected to variable nodes. The nodes represent the unknown random variables in an
estimation problem, and the factors represent probabilistic constraints on those variables,
derived from measurements or prior knowledge. Add factors and nodes to the factor graph by
using the addFactor
function.
Creation
Syntax
Description
creates an empty
G
= factorGraphfactorGraph
object.
Properties
Object Functions
addFactor | Add factor to factor graph |
fixNode | Fix or free node in factor graph |
hasNode | Check if node ID exists in factor graph |
isConnected | Check if factor graph is connected |
isNodeFixed | Check if node is fixed |
nodeIDs | Get all node IDs in factor graph |
nodeState | Get or set node state in factor graph |
nodeType | Get node type of node in factor graph |
optimize | Optimize factor graph |
Examples
References
[1] Dellaert, Frank. Factor graphs and GTSAM: A Hands-On Introduction. Georgia: Georgia Tech, September, 2012.