HybridGaussianFactor.h

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/* ----------------------------------------------------------------------------
 
 * 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;
 
using GaussianFactorValuePair = std::pair<GaussianFactor::shared_ptr, double>;
 
class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
 public:
  using Base = HybridFactor;
  using This = HybridGaussianFactor;
  using shared_ptr = std::shared_ptr<This>;
 
  using sharedFactor = std::shared_ptr<GaussianFactor>;
 
  using FactorValuePairs = DecisionTree<Key, GaussianFactorValuePair>;
  using Factors = DecisionTree<Key, sharedFactor>;
 
 private:
  Factors factors_;
 
  GaussianFactorGraphTree asGaussianFactorGraphTree() const;
 
 public:
 
  HybridGaussianFactor() = default;
 
  HybridGaussianFactor(const KeyVector &continuousKeys,
                       const DiscreteKey &discreteKey,
                       const std::vector<GaussianFactor::shared_ptr> &factors)
      : Base(continuousKeys, {discreteKey}), factors_({discreteKey}, factors) {}
 
  HybridGaussianFactor(const KeyVector &continuousKeys,
                       const DiscreteKey &discreteKey,
                       const std::vector<GaussianFactorValuePair> &factors)
      : HybridGaussianFactor(continuousKeys, {discreteKey},
                             FactorValuePairs({discreteKey}, factors)) {}
 
  HybridGaussianFactor(const KeyVector &continuousKeys,
                       const DiscreteKeys &discreteKeys,
                       const FactorValuePairs &factors);
 
 
  bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
  void print(const std::string &s = "", 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 override;
 
  double error(const HybridValues &values) const override;
 
  const Factors &factors() const { return factors_; }
 
  friend GaussianFactorGraphTree &operator+=(
      GaussianFactorGraphTree &sum, const HybridGaussianFactor &factor) {
    sum = factor.add(sum);
    return sum;
  }
 
 private:
  double potentiallyPrunedComponentError(
      const sharedFactor &gf, const VectorValues &continuousValues) const;
 
#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<HybridGaussianFactor> : public Testable<HybridGaussianFactor> {};
 
}  // namespace gtsam