Program Listing for File marginal_constraint.hpp
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#ifndef FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_
#define FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_
#include <ceres/cost_function.h>
#include <algorithm>
#include <cassert>
#include <ostream>
#include <string>
#include <vector>
#include <fuse_core/constraint.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/variable.hpp>
#include <boost/iterator/transform_iterator.hpp>
#include <boost/iterator/zip_iterator.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/tuple/tuple.hpp>
namespace fuse_constraints
{
class MarginalConstraint : public fuse_core::Constraint
{
public:
FUSE_CONSTRAINT_DEFINITIONS(MarginalConstraint)
MarginalConstraint() = default;
template<typename VariableIterator, typename MatrixIterator>
MarginalConstraint(
const std::string & source,
VariableIterator first_variable,
VariableIterator last_variable,
MatrixIterator first_A,
MatrixIterator last_A,
const fuse_core::VectorXd & b);
virtual ~MarginalConstraint() = default;
const std::vector<fuse_core::MatrixXd> & A() const {return A_;}
const fuse_core::VectorXd & b() const {return b_;}
const std::vector<fuse_core::VectorXd> & x_bar() const {return x_bar_;}
const std::vector<fuse_core::LocalParameterization::SharedPtr> & localParameterizations() const
{
return local_parameterizations_;
}
void print(std::ostream & stream = std::cout) const override;
ceres::CostFunction * costFunction() const override;
protected:
std::vector<fuse_core::MatrixXd> A_;
fuse_core::VectorXd b_;
std::vector<fuse_core::LocalParameterization::SharedPtr> local_parameterizations_;
std::vector<fuse_core::VectorXd> x_bar_;
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::Constraint>(*this);
archive & A_;
archive & b_;
archive & local_parameterizations_;
archive & x_bar_;
}
};
namespace detail
{
inline const fuse_core::UUID getUuid(const fuse_core::Variable & variable)
{
return variable.uuid();
}
inline const fuse_core::VectorXd getCurrentValue(const fuse_core::Variable & variable)
{
return Eigen::Map<const fuse_core::VectorXd>(variable.data(), variable.size());
}
inline fuse_core::LocalParameterization::SharedPtr const getLocalParameterization(
const fuse_core::Variable & variable)
{
return fuse_core::LocalParameterization::SharedPtr(variable.localParameterization());
}
} // namespace detail
template<typename VariableIterator, typename MatrixIterator>
MarginalConstraint::MarginalConstraint(
const std::string & source,
VariableIterator first_variable,
VariableIterator last_variable,
MatrixIterator first_A,
MatrixIterator last_A,
const fuse_core::VectorXd & b)
: Constraint(source,
boost::make_transform_iterator(first_variable, &fuse_constraints::detail::getUuid),
boost::make_transform_iterator(last_variable, &fuse_constraints::detail::getUuid)),
A_(first_A, last_A),
b_(b),
local_parameterizations_(boost::make_transform_iterator(first_variable,
&fuse_constraints::detail::getLocalParameterization),
boost::make_transform_iterator(last_variable,
&fuse_constraints::detail::getLocalParameterization)),
x_bar_(boost::make_transform_iterator(first_variable, &fuse_constraints::detail::getCurrentValue),
boost::make_transform_iterator(last_variable, &fuse_constraints::detail::getCurrentValue))
{
assert(!A_.empty());
assert(A_.size() == x_bar_.size());
assert(A_.size() == local_parameterizations_.size());
assert(b_.rows() > 0);
assert(
std::all_of(
A_.begin(), A_.end(), [this](const auto & A) {
return A.rows() == this->b_.rows();
})); // NOLINT
assert(
std::all_of(
boost::make_zip_iterator(boost::make_tuple(A_.begin(), first_variable)),
boost::make_zip_iterator(boost::make_tuple(A_.end(), last_variable)),
[](const boost::tuple<const fuse_core::MatrixXd &, const fuse_core::Variable &> & tuple) // NOLINT
{
return static_cast<size_t>(tuple.get<0>().cols()) == tuple.get<1>().localSize();
})); // NOLINT
}
} // namespace fuse_constraints
BOOST_CLASS_EXPORT_KEY(fuse_constraints::MarginalConstraint);
#endif // FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_