SymbolicFactor.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/inference/Factor.h>
#include <gtsam/inference/Key.h>
#include <gtsam/base/Testable.h>

#include <boost/shared_ptr.hpp>
#include <boost/assign/list_of.hpp>
#include <boost/make_shared.hpp>

#include <utility>

namespace gtsam {

  // Forward declarations
  class SymbolicConditional;
  class Ordering;

  class GTSAM_EXPORT SymbolicFactor : public Factor {

  public:

    typedef SymbolicFactor This;
    typedef Factor Base;
    typedef SymbolicConditional ConditionalType;

    typedef boost::shared_ptr<This> shared_ptr;


    SymbolicFactor() {}

    explicit SymbolicFactor(Key j) :
      Base(boost::assign::cref_list_of<1>(j)) {}

    SymbolicFactor(Key j1, Key j2) :
      Base(boost::assign::cref_list_of<2>(j1)(j2)) {}

    SymbolicFactor(Key j1, Key j2, Key j3) :
      Base(boost::assign::cref_list_of<3>(j1)(j2)(j3)) {}

    SymbolicFactor(Key j1, Key j2, Key j3, Key j4) :
      Base(boost::assign::cref_list_of<4>(j1)(j2)(j3)(j4)) {}

    SymbolicFactor(Key j1, Key j2, Key j3, Key j4, Key j5) :
      Base(boost::assign::cref_list_of<5>(j1)(j2)(j3)(j4)(j5)) {}

    SymbolicFactor(Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
      Base(boost::assign::cref_list_of<6>(j1)(j2)(j3)(j4)(j5)(j6)) {}

    explicit SymbolicFactor(const Factor& factor) : Base(factor.keys()) {}

    virtual ~SymbolicFactor() {}

    SymbolicFactor::shared_ptr clone() const { return boost::make_shared<This>(*this); }



    bool equals(const This& other, double tol = 1e-9) const;

    void print(
        const std::string& s = "SymbolicFactor",
        const KeyFormatter& formatter = DefaultKeyFormatter) const override {
      Base::print(s, formatter);
    }

    void printKeys(
        const std::string& s = "SymbolicFactor",
        const KeyFormatter& formatter = DefaultKeyFormatter) const override {
      Base::printKeys(s, formatter);
    }


  public:
    template<typename KEYITERATOR>
    static SymbolicFactor FromIterators(KEYITERATOR beginKey, KEYITERATOR endKey) {
      return SymbolicFactor(Base::FromIterators(beginKey, endKey));
    }

    template<typename KEYITERATOR>
    static SymbolicFactor::shared_ptr FromIteratorsShared(KEYITERATOR beginKey, KEYITERATOR endKey) {
      SymbolicFactor::shared_ptr result = boost::make_shared<SymbolicFactor>();
      result->keys_.assign(beginKey, endKey);
      return result;
    }

    template<class CONTAINER>
    static SymbolicFactor FromKeys(const CONTAINER& keys) {
      return SymbolicFactor(Base::FromKeys(keys));
    }

    template<class CONTAINER>
    static SymbolicFactor::shared_ptr FromKeysShared(const CONTAINER& keys) {
      return FromIteratorsShared(keys.begin(), keys.end());
    }



    bool empty() const { return keys_.empty(); }

    std::pair<boost::shared_ptr<SymbolicConditional>, boost::shared_ptr<SymbolicFactor> >
      eliminate(const Ordering& keys) const;


  private:
    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
    }
  }; // IndexFactor

  // Forward declarations
  class SymbolicFactorGraph;
  class Ordering;

  GTSAM_EXPORT std::pair<boost::shared_ptr<SymbolicConditional>, boost::shared_ptr<SymbolicFactor> >
    EliminateSymbolic(const SymbolicFactorGraph& factors, const Ordering& keys);

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

} //\ namespace gtsam