vesta_graphs

vesta_graphs

Concrete graph storage implementations for the vesta factor graph library. This package provides implementations of the vesta_core::Graph interface.

HashGraph

The primary graph implementation, using hash maps (std::unordered_map) for O(1) variable and constraint lookup by UUID.

Key features:

• Persistent Ceres Problem: Maintains a live ceres::Problem instance with enable_fast_removal=true, so variables and constraints can be incrementally added and removed without rebuilding the problem from scratch.
• Incremental Updates: Apply transactions (batches of additions/removals) efficiently via the update() method.
• Schur Ordering: Supports Schur complement elimination ordering for efficient solving of problems with landmark variables.
• Jacobian Relinearization: Tracks which constraints need Jacobian recomputation, enabling selective relinearization policies.
• Serialization: Full Boost serialization support for graph persistence and transmission.

Usage

#include <vesta_graphs/hash_graph.h>

auto graph = std::make_unique<vesta_graphs::HashGraph>();

// Apply a transaction
vesta_core::Transaction transaction;
transaction.addVariable(my_variable);
transaction.addConstraint(my_constraint);
graph->update(transaction);

// Query the graph
bool has_var = graph->variableExists(variable_uuid);
const auto& var = graph->getVariable(variable_uuid);

// Iterate
for (const auto& variable : graph->getVariables()) { /* ... */ }
for (const auto& constraint : graph->getConstraints()) { /* ... */ }

HashGraphParams

Configuration structure for HashGraph:

#include <vesta_graphs/hash_graph_params.h>

Include Convention

#include <vesta_graphs/hash_graph.h>
#include <vesta_graphs/hash_graph_params.h>

Contents

Header	Description
hash_graph.h	Hash map-based graph with persistent ceres::Problem
hash_graph_params.h	Configuration parameters for HashGraph