NonlinearEqualityConstraint.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/constrained/NonlinearConstraint.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
namespace gtsam {
 
class GTSAM_EXPORT NonlinearEqualityConstraint : public NonlinearConstraint {
 public:
  typedef NonlinearConstraint Base;
  typedef NonlinearEqualityConstraint This;
  typedef std::shared_ptr<This> shared_ptr;
 
  using Base::Base;
 
  virtual ~NonlinearEqualityConstraint() {}
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp("NonlinearEqualityConstraint",
                                       boost::serialization::base_object<Base>(*this));
  }
#endif
};
 
template <typename T>
class ExpressionEqualityConstraint : public NonlinearEqualityConstraint {
 public:
  typedef NonlinearEqualityConstraint Base;
  typedef ExpressionEqualityConstraint This;
  typedef std::shared_ptr<This> shared_ptr;
 
 protected:
  Expression<T> expression_;
  T rhs_;
  FastVector<int> dims_;
 
 public:
  ExpressionEqualityConstraint(const Expression<T>& expression, const T& rhs, const Vector& sigmas);
 
  virtual Vector unwhitenedError(const Values& x, OptionalMatrixVecType H = nullptr) const override;
 
  virtual NoiseModelFactor::shared_ptr penaltyFactor(const double mu = 1.0) const override;
 
  const Expression<T>& expression() const { return expression_; }
 
  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp("ExpressionEqualityConstraint",
                                       boost::serialization::base_object<Base>(*this));
    ar& BOOST_SERIALIZATION_NVP(expression_);
    ar& BOOST_SERIALIZATION_NVP(rhs_);
    ar& BOOST_SERIALIZATION_NVP(dims_);
  }
#endif
};
 
class GTSAM_EXPORT ZeroCostConstraint : public NonlinearEqualityConstraint {
 public:
  typedef NonlinearEqualityConstraint Base;
  typedef ZeroCostConstraint This;
  typedef std::shared_ptr<This> shared_ptr;
 
 protected:
  NoiseModelFactor::shared_ptr factor_;
 
 public:
  ZeroCostConstraint(const NoiseModelFactor::shared_ptr& factor);
 
  virtual Vector unwhitenedError(const Values& x, OptionalMatrixVecType H = nullptr) const override;
 
  virtual NoiseModelFactor::shared_ptr penaltyFactor(const double mu = 1.0) const override;
 
  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp("ZeroCostConstraint",
                                       boost::serialization::base_object<Base>(*this));
    ar& BOOST_SERIALIZATION_NVP(factor_);
  }
#endif
};
 
class GTSAM_EXPORT NonlinearEqualityConstraints : public FactorGraph<NonlinearEqualityConstraint> {
 public:
  typedef std::shared_ptr<NonlinearEqualityConstraints> shared_ptr;
  typedef FactorGraph<NonlinearEqualityConstraint> Base;
 
 public:
  using Base::Base;
 
  static NonlinearEqualityConstraints FromCostGraph(const NonlinearFactorGraph& graph);
 
  size_t dim() const;
 
  Vector violationVector(const Values& values, bool whiten = true) const;
 
  double violationNorm(const Values& values) const;
 
  NonlinearFactorGraph penaltyGraph(const double mu = 1.0) const;
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp("NonlinearEqualityConstraints",
                                       boost::serialization::base_object<Base>(*this));
  }
#endif
};
 
}  // namespace gtsam
 
#include <gtsam/constrained/NonlinearEqualityConstraint-inl.h>