GaussianMixtureFactor.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/discrete/AlgebraicDecisionTree.h>
#include <gtsam/discrete/DecisionTree.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>
 
namespace gtsam {
 
class HybridValues;
class DiscreteValues;
class VectorValues;
 
class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
 public:
  using Base = HybridFactor;
  using This = GaussianMixtureFactor;
  using shared_ptr = std::shared_ptr<This>;
 
  using sharedFactor = std::shared_ptr<GaussianFactor>;
 
  using Factors = DecisionTree<Key, sharedFactor>;
 
 private:
  Factors factors_;
 
  GaussianFactorGraphTree asGaussianFactorGraphTree() const;
 
 public:
 
  GaussianMixtureFactor() = default;
 
  GaussianMixtureFactor(const KeyVector &continuousKeys,
                        const DiscreteKeys &discreteKeys,
                        const Factors &factors);
 
  GaussianMixtureFactor(const KeyVector &continuousKeys,
                        const DiscreteKeys &discreteKeys,
                        const std::vector<sharedFactor> &factors)
      : GaussianMixtureFactor(continuousKeys, discreteKeys,
                              Factors(discreteKeys, factors)) {}
 
 
  bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
  void print(
      const std::string &s = "GaussianMixtureFactor\n",
      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
 
  sharedFactor operator()(const DiscreteValues &assignment) const;
 
  GaussianFactorGraphTree add(const GaussianFactorGraphTree &sum) const;
 
  AlgebraicDecisionTree<Key> errorTree(const VectorValues &continuousValues) const;
 
  double error(const HybridValues &values) const override;
 
  const Factors &factors() const { return factors_; }
 
  friend GaussianFactorGraphTree &operator+=(
      GaussianFactorGraphTree &sum, const GaussianMixtureFactor &factor) {
    sum = factor.add(sum);
    return sum;
  }
 
 private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
    ar &BOOST_SERIALIZATION_NVP(factors_);
  }
#endif
};
 
// traits
template <>
struct traits<GaussianMixtureFactor> : public Testable<GaussianMixtureFactor> {
};
 
}  // namespace gtsam