ConcurrentFilteringAndSmoothing.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

 * -------------------------------------------------------------------------- */

// \callgraph
#pragma once

#include <gtsam_unstable/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/GaussianFactorGraph.h>

namespace gtsam {

// Forward declare the Filter and Smoother classes for the 'synchronize' function
class ConcurrentFilter;
class ConcurrentSmoother;

void GTSAM_UNSTABLE_EXPORT synchronize(ConcurrentFilter& filter, ConcurrentSmoother& smoother);

class GTSAM_UNSTABLE_EXPORT ConcurrentFilter {
public:
  typedef std::shared_ptr<ConcurrentFilter> shared_ptr;

  ConcurrentFilter() = default;

  virtual ~ConcurrentFilter() = default;

  virtual void print(
      const std::string& s = "Concurrent Filter:\n",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;

  virtual bool equals(const ConcurrentFilter& rhs, double tol = 1e-9) const = 0;

  virtual void presync() {}

  virtual void getSummarizedFactors(NonlinearFactorGraph& summarizedFactors, Values& separatorValues) = 0;

  virtual void getSmootherFactors(NonlinearFactorGraph& smootherFactors, Values& smootherValues) = 0;

  virtual void synchronize(const NonlinearFactorGraph& summarizedFactors, const Values& separatorValues) = 0;

  virtual void postsync() {}

}; // ConcurrentFilter

class GTSAM_UNSTABLE_EXPORT ConcurrentSmoother {
public:
  typedef std::shared_ptr<ConcurrentSmoother> shared_ptr;

  ConcurrentSmoother() {}

  virtual ~ConcurrentSmoother() = default;

  virtual void print(
      const std::string& s = "Concurrent Smoother:\n",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;

  virtual bool equals(const ConcurrentSmoother& rhs, double tol = 1e-9) const = 0;

  virtual void presync() {}

  virtual void getSummarizedFactors(NonlinearFactorGraph& summarizedFactors, Values& separatorValues) = 0;

  virtual void synchronize(const NonlinearFactorGraph& smootherFactors, const Values& smootherValues,
      const NonlinearFactorGraph& summarizedFactors, const Values& rootValues) = 0;

  virtual void postsync() {}

}; // ConcurrentSmoother

namespace internal {

  NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph, const Values& theta,
      const KeySet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction);

}

}