FactorGraph Class Reference

Inheritance diagram for FactorGraph:

Collaboration diagram for FactorGraph:

Public Member Functions
def	__init__ (self, variableSize, nbVariables)
def	matrix_form_factor (self, factors)
def	add_factor (self, factors, reference)
def	add_factor_constraint (self, factors, reference)
def	solve (self, eps=1e-8)

Public Attributes
	nx
	N
	A
	b
	C
	d

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 37 of file factor.py.

Constructor & Destructor Documentation

def __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 44 of file factor.py.

References FactorGraph.A, FactorGraph.b, FactorGraph.C, FactorGraph.d, FactorGraph.N, and FactorGraph.nx.

Member Function Documentation

def add_factor	(		self,
			factors,
			reference
	)

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

Definition at line 74 of file factor.py.

References FactorGraph.A, FactorGraph.b, and FactorGraph.matrix_form_factor().

def 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 83 of file factor.py.

References FactorGraph.C, FactorGraph.d, and FactorGraph.matrix_form_factor().

def 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 57 of file factor.py.

References FactorGraph.N, and FactorGraph.nx.

Referenced by FactorGraph.add_factor(), and FactorGraph.add_factor_constraint().

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

Implement a LCQP solver, with numerical threshold eps.

Definition at line 92 of file factor.py.

References FactorGraph.A, FactorGraph.b, FactorGraph.C, FactorGraph.d, FactorGraph.N, and FactorGraph.nx.

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

• factor.py