FactorGraph Class Reference

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 = zero([0, self.N * self.nx])
	b = zero(0)
	C = zero([0, self.N * self.nx])
	d = zero(0)
	N = nbVariables
	nx = variableSize

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 = zero([0, self.N * self.nx])

Definition at line 57 of file factor.py.

b

b = zero(0)

Definition at line 58 of file factor.py.

C

C = zero([0, self.N * self.nx])

Definition at line 59 of file factor.py.

d

d = zero(0)

Definition at line 60 of file factor.py.

N

N = nbVariables

Definition at line 56 of file factor.py.

nx

nx = variableSize

Definition at line 55 of file factor.py.

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

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