LinearContainerFactor.h

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#pragma once

#include <gtsam/nonlinear/NonlinearFactorGraph.h>

namespace gtsam {

  // Forward declarations
  class JacobianFactor;
  class HessianFactor;

class LinearContainerFactor : public NonlinearFactor {
protected:

  GaussianFactor::shared_ptr factor_;
  boost::optional<Values> linearizationPoint_;

  LinearContainerFactor() {}

  GTSAM_EXPORT LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional<Values>& linearizationPoint);

  // Some handy typedefs
  typedef NonlinearFactor Base;
  typedef LinearContainerFactor This;

public:

  typedef boost::shared_ptr<This> shared_ptr;

  GTSAM_EXPORT LinearContainerFactor(const JacobianFactor& factor, const Values& linearizationPoint = Values());

  GTSAM_EXPORT LinearContainerFactor(const HessianFactor& factor, const Values& linearizationPoint = Values());

  GTSAM_EXPORT LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Values& linearizationPoint = Values());

  // Access

  const GaussianFactor::shared_ptr& factor() const { return factor_; }

  // Testable

  GTSAM_EXPORT void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;

  GTSAM_EXPORT bool equals(const NonlinearFactor& f, double tol = 1e-9) const override;

  // NonlinearFactor

  GTSAM_EXPORT double error(const Values& c) const override;

  GTSAM_EXPORT size_t dim() const override;

  const boost::optional<Values>& linearizationPoint() const { return linearizationPoint_; }

  GTSAM_EXPORT GaussianFactor::shared_ptr linearize(const Values& c) const override;

  GTSAM_EXPORT GaussianFactor::shared_ptr negateToGaussian() const;

  GTSAM_EXPORT NonlinearFactor::shared_ptr negateToNonlinear() const;

  NonlinearFactor::shared_ptr clone() const override {
    return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_,linearizationPoint_));
  }

  // casting syntactic sugar

  inline bool hasLinearizationPoint() const { return linearizationPoint_.is_initialized(); }

  GTSAM_EXPORT bool isJacobian() const;
  GTSAM_EXPORT bool isHessian() const;

  GTSAM_EXPORT boost::shared_ptr<JacobianFactor> toJacobian() const;

  GTSAM_EXPORT boost::shared_ptr<HessianFactor> toHessian() const;

  GTSAM_EXPORT
  static NonlinearFactorGraph ConvertLinearGraph(const GaussianFactorGraph& linear_graph,
      const Values& linearizationPoint = Values());

 protected:
  GTSAM_EXPORT void initializeLinearizationPoint(const Values& linearizationPoint);

 private:
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NonlinearFactor",
        boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(factor_);
    ar & BOOST_SERIALIZATION_NVP(linearizationPoint_);
  }

}; // \class LinearContainerFactor

template<> struct traits<LinearContainerFactor> : public Testable<LinearContainerFactor> {};

} // \namespace gtsam