HybridNonlinearFactor.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/DiscreteValues.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Symbol.h>
 
#include <vector>
 
namespace gtsam {
 
using NonlinearFactorValuePair =
    std::pair<NoiseModelFactor::shared_ptr, double>;
 
class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
 public:
  using Base = HybridFactor;
  using This = HybridNonlinearFactor;
  using shared_ptr = std::shared_ptr<HybridNonlinearFactor>;
  using sharedFactor = std::shared_ptr<NoiseModelFactor>;
 
  using FactorValuePairs = DecisionTree<Key, NonlinearFactorValuePair>;
 
 private:
  FactorValuePairs factors_;
 
  AlgebraicDecisionTree<Key> errorTree(
      const VectorValues& continuousValues) const override {
    throw std::runtime_error(
        "HybridNonlinearFactor::error does not take VectorValues.");
  }
 
 public:
  HybridNonlinearFactor() = default;
 
  HybridNonlinearFactor(
      const DiscreteKey& discreteKey,
      const std::vector<NoiseModelFactor::shared_ptr>& factors);
 
  HybridNonlinearFactor(const DiscreteKey& discreteKey,
                        const std::vector<NonlinearFactorValuePair>& pairs);
 
  HybridNonlinearFactor(const DiscreteKeys& discreteKeys,
                        const FactorValuePairs& factors);
 
  AlgebraicDecisionTree<Key> errorTree(const Values& continuousValues) const;
 
  double error(const Values& continuousValues,
               const DiscreteValues& discreteValues) const;
 
  double error(const HybridValues& values) const override;
 
  size_t dim() const;
 
 
  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;
 
  bool equals(const HybridFactor& other, double tol = 1e-9) const override;
 
 
  const FactorValuePairs& factors() const { return factors_; }
 
  GaussianFactor::shared_ptr linearize(
      const Values& continuousValues,
      const DiscreteValues& discreteValues) const;
 
  std::shared_ptr<HybridGaussianFactor> linearize(
      const Values& continuousValues) const;
 
  HybridNonlinearFactor::shared_ptr prune(
      const DecisionTreeFactor& discreteProbs) const;
 
 private:
  struct ConstructorHelper;
 
  // Private constructor using ConstructorHelper above.
  HybridNonlinearFactor(const ConstructorHelper& helper);
};
 
// traits
template <>
struct traits<HybridNonlinearFactor> : public Testable<HybridNonlinearFactor> {
};
 
}  // namespace gtsam