+<html lang="en"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><title>DFG Data Structures · DistributedFactorGraphs.jl</title><meta name="title" content="DFG Data Structures · DistributedFactorGraphs.jl"/><meta property="og:title" content="DFG Data Structures · DistributedFactorGraphs.jl"/><meta property="twitter:title" content="DFG Data Structures · DistributedFactorGraphs.jl"/><meta name="description" content="Documentation for DistributedFactorGraphs.jl."/><meta property="og:description" content="Documentation for DistributedFactorGraphs.jl."/><meta property="twitter:description" content="Documentation for DistributedFactorGraphs.jl."/><script data-outdated-warner src="../assets/warner.js"></script><link href="https://cdnjs.cloudflare.com/ajax/libs/lato-font/3.0.0/css/lato-font.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/juliamono/0.050/juliamono.min.css" rel="stylesheet" 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class="is-disabled">Getting Started</a></li><li class="is-active"><a href>DFG Data Structures</a></li></ul><ul class="is-hidden-tablet"><li class="is-active"><a href>DFG Data Structures</a></li></ul></nav><div class="docs-right"><a class="docs-navbar-link" href="https://github.com/JuliaRobotics/DistributedFactorGraphs.jl" title="View the repository on GitHub"><span class="docs-icon fa-brands"></span><span class="docs-label is-hidden-touch">GitHub</span></a><a class="docs-navbar-link" href="https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/develop/docs/src/DataStructure.md" title="Edit source on GitHub"><span class="docs-icon fa-solid"></span></a><a class="docs-settings-button docs-navbar-link fa-solid fa-gear" id="documenter-settings-button" href="#" title="Settings"></a><a class="docs-article-toggle-button fa-solid fa-chevron-up" id="documenter-article-toggle-button" href="javascript:;" title="Collapse all docstrings"></a></div></header><article class="content" id="documenter-page"><h1 id="DFG-Data-Structures"><a class="docs-heading-anchor" href="#DFG-Data-Structures">DFG Data Structures</a><a id="DFG-Data-Structures-1"></a><a class="docs-heading-anchor-permalink" href="#DFG-Data-Structures" title="Permalink"></a></h1><p>Variables and factors can potentially contain a lot of data, so DFG has different structures that are specialized for each use-case and level of detail. For example, if you want to retrieve just a simple summary of the structure, you can use the summary or skeleton structures to identify variables and factors of interest and then retrieve more detail on the subset.</p><p>Note that not all drivers support all of the structures.</p><p>The following section discusses the datastructures for each level. A quick summary of the types and the available properties (some of which are derived) is provided below.</p><p>Accessible properties for each of the variable structures:</p><table><tr><th style="text-align: right"></th><th style="text-align: right">Label</th><th style="text-align: right">Timestamp</th><th style="text-align: right">Tags</th><th style="text-align: right">Estimates</th><th style="text-align: right">Soft Type</th><th style="text-align: right">Solvable</th><th style="text-align: right">Solver Data</th><th style="text-align: right">Metadata</th><th style="text-align: right">Blob Entries</th></tr><tr><td style="text-align: right">VariableSkeleton</td><td style="text-align: right">X</td><td style="text-align: right"></td><td style="text-align: right">X</td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td></tr><tr><td style="text-align: right">VariableSummary</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">Symbol</td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right">X</td></tr><tr><td style="text-align: right">VariableCompute</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td></tr></table><p>Accessible properties for each of the factor structures:</p><table><tr><th style="text-align: right"></th><th style="text-align: right">Label</th><th style="text-align: right">Timestamp</th><th style="text-align: right">Tags</th><th style="text-align: right">Factor Type</th><th style="text-align: right">Solvable</th><th style="text-align: right">Solver Data</th></tr><tr><td style="text-align: right">FactorSkeleton</td><td style="text-align: right">X</td><td style="text-align: right"></td><td style="text-align: right">X</td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td></tr><tr><td style="text-align: right">FactorSummary</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right"></td><td style="text-align: right"></td><td style="text-align: right"></td></tr><tr><td style="text-align: right">FactorCompute</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td><td style="text-align: right">X</td></tr></table><h2 id="DFG-Skeleton-types"><a class="docs-heading-anchor" href="#DFG-Skeleton-types">DFG Skeleton types</a><a id="DFG-Skeleton-types-1"></a><a class="docs-heading-anchor-permalink" href="#DFG-Skeleton-types" title="Permalink"></a></h2><ul><li><a href="../func_ref/#DistributedFactorGraphs.VariableSkeleton"><code>VariableSkeleton</code></a></li><li><a href="../func_ref/#DistributedFactorGraphs.FactorSkeleton"><code>FactorSkeleton</code></a></li></ul><h2 id="DFG-Summary-types"><a class="docs-heading-anchor" href="#DFG-Summary-types">DFG Summary types</a><a id="DFG-Summary-types-1"></a><a class="docs-heading-anchor-permalink" href="#DFG-Summary-types" title="Permalink"></a></h2><ul><li><a href="../func_ref/#DistributedFactorGraphs.VariableSummary"><code>VariableSummary</code></a></li><li><a href="../func_ref/#DistributedFactorGraphs.FactorSummary"><code>FactorSummary</code></a></li></ul><h2 id="DFG-Portable-and-Storeable-types"><a class="docs-heading-anchor" href="#DFG-Portable-and-Storeable-types">DFG Portable and Storeable types</a><a id="DFG-Portable-and-Storeable-types-1"></a><a class="docs-heading-anchor-permalink" href="#DFG-Portable-and-Storeable-types" title="Permalink"></a></h2><ul><li><a href="../func_ref/#DistributedFactorGraphs.VariableDFG"><code>VariableDFG</code></a></li><li><a href="../func_ref/#DistributedFactorGraphs.FactorDFG"><code>FactorDFG</code></a></li></ul><h2 id="DFG-Full-solvable-types"><a class="docs-heading-anchor" href="#DFG-Full-solvable-types">DFG Full solvable types</a><a id="DFG-Full-solvable-types-1"></a><a class="docs-heading-anchor-permalink" href="#DFG-Full-solvable-types" title="Permalink"></a></h2><ul><li><a href="../func_ref/#DistributedFactorGraphs.VariableCompute"><code>VariableCompute</code></a></li><li><a href="../func_ref/#DistributedFactorGraphs.FactorCompute"><code>FactorCompute</code></a></li></ul><h2 id="Additional-Offloaded-Data"><a class="docs-heading-anchor" href="#Additional-Offloaded-Data">Additional Offloaded Data</a><a id="Additional-Offloaded-Data-1"></a><a class="docs-heading-anchor-permalink" href="#Additional-Offloaded-Data" title="Permalink"></a></h2><p>Additional, larger data can be associated with variables and factors using keyed blob entries. </p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../">« Home</a><a class="docs-footer-nextpage" href="../BuildingGraphs/">Building Graphs »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div 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