本文整理汇总了C++中NonlinearFactorGraph::symbolic方法的典型用法代码示例。如果您正苦于以下问题：C++ NonlinearFactorGraph::symbolic方法的具体用法？C++ NonlinearFactorGraph::symbolic怎么用？C++ NonlinearFactorGraph::symbolic使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类NonlinearFactorGraph的用法示例。
在下文中一共展示了NonlinearFactorGraph::symbolic方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: etree
/* ************************************************************************* *
Bayes tree for smoother with "nested dissection" ordering:
C1 x5 x6 x4
C2 x3 x2 : x4
C3 x1 : x2
C4 x7 : x6
*/
TEST( GaussianJunctionTreeB, constructor2 ) {
// create a graph
NonlinearFactorGraph nlfg;
Values values;
boost::tie(nlfg, values) = createNonlinearSmoother(7);
SymbolicFactorGraph::shared_ptr symbolic = nlfg.symbolic();
// linearize
GaussianFactorGraph::shared_ptr fg = nlfg.linearize(values);
Ordering ordering;
ordering += X(1), X(3), X(5), X(7), X(2), X(6), X(4);
// create an ordering
GaussianEliminationTree etree(*fg, ordering);
SymbolicEliminationTree stree(*symbolic, ordering);
GaussianJunctionTree actual(etree);
Ordering o324;
o324 += X(3), X(2), X(4);
Ordering o56;
o56 += X(5), X(6);
Ordering o7;
o7 += X(7);
Ordering o1;
o1 += X(1);
// Can no longer test these:
// Ordering sep1;
// Ordering sep2; sep2 += X(4);
// Ordering sep3; sep3 += X(6);
// Ordering sep4; sep4 += X(2);
GaussianJunctionTree::sharedNode x324 = actual.roots().front();
LONGS_EQUAL(2, x324->children.size());
GaussianJunctionTree::sharedNode x1 = x324->children.front();
GaussianJunctionTree::sharedNode x56 = x324->children.back();
if (x1->children.size() > 0)
x1.swap(x56); // makes it work with different tie-breakers
LONGS_EQUAL(0, x1->children.size());
LONGS_EQUAL(1, x56->children.size());
GaussianJunctionTree::sharedNode x7 = x56->children[0];
LONGS_EQUAL(0, x7->children.size());
EXPECT(assert_equal(o324, x324->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(5, x324->factors.size());
EXPECT_LONGS_EQUAL(9, x324->problemSize_);
EXPECT(assert_equal(o56, x56->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(4, x56->factors.size());
EXPECT_LONGS_EQUAL(9, x56->problemSize_);
EXPECT(assert_equal(o7, x7->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(2, x7->factors.size());
EXPECT_LONGS_EQUAL(4, x7->problemSize_);
EXPECT(assert_equal(o1, x1->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(2, x1->factors.size());
EXPECT_LONGS_EQUAL(4, x1->problemSize_);
}