Public Member Functions
	__init__ (self, variableSize, nbVariables)

	add_factor (self, factors, reference)

	add_factor_constraint (self, factors, reference)

	matrix_form_factor (self, factors)

	solve (self, eps=1e-8)

Public Attributes
	A

	b

	C

	d

	N

	nx

Detailed Description

The class FactorGraph stores a block-sparse linear-constrained quadratic program
(LCQP) of variable x=(x1...xn). The size of the problem is set up at construction of
the object.
Methods add_factor() and add_factor_constraint() are used to set up the problem.
Method solve() is used to compute the solution to the problem.

Definition at line 40 of file factor.py.

Constructor & Destructor Documentation

◆ init()

__init__	(	self,
		variableSize,
		nbVariables
	)

Initialize a QP sparse problem as min || A x - b || so that C x = d
where  x = (x1, .., xn), and dim(xi) = variableSize and n = nbVariables
After construction, A, b, C and d are allocated and set to 0.

Definition at line 49 of file factor.py.

Member Function Documentation

◆ add_factor()

add_factor	(	self,
		factors,
		reference
	)

Add a factor || sum_{i} factor[i].matrix * x_{factor[i].index} - reference ||
to the cost.

Definition at line 79 of file factor.py.

◆ add_factor_constraint()

add_factor_constraint	(	self,
		factors,
		reference
	)

Add a factor sum_{i} factor[i].matrix * x_{factor[i].index} =  reference
to the constraints.

Definition at line 88 of file factor.py.

◆ matrix_form_factor()

matrix_form_factor	(	self,
		factors
	)

Internal function: not designed to be called by the user.
Create a factor matrix [ A1 0 A2 0 A3 ... ] where the Ai's are placed at
the indexes of the factors.

Definition at line 62 of file factor.py.

◆ solve()

solve	(	self,
		eps = `1e-8`
	)

Implement a LCQP solver, with numerical threshold eps.

Definition at line 97 of file factor.py.

Member Data Documentation

◆ A

A

Definition at line 57 of file factor.py.

◆ b

b

Definition at line 58 of file factor.py.

◆ C

C

Definition at line 59 of file factor.py.

◆ d

d

Definition at line 60 of file factor.py.

◆ N

N

Definition at line 56 of file factor.py.

◆ nx

nx

Definition at line 55 of file factor.py.

The documentation for this class was generated from the following file:

doc/d-practical-exercises/src/factor.py

Public Member Functions

Public Attributes