Program Listing for File marginalize_variables.hpp
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#ifndef FUSE_CONSTRAINTS__MARGINALIZE_VARIABLES_HPP_
#define FUSE_CONSTRAINTS__MARGINALIZE_VARIABLES_HPP_
#include <ceres/cost_function.h>
#include <algorithm>
#include <cassert>
#include <iterator>
#include <ostream>
#include <string>
#include <vector>
#include <fuse_constraints/marginal_constraint.hpp>
#include <fuse_constraints/uuid_ordering.hpp>
#include <fuse_core/constraint.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/variable.hpp>
#include <boost/iterator/transform_iterator.hpp>
namespace fuse_constraints
{
UuidOrdering computeEliminationOrder(
const std::vector<fuse_core::UUID> & marginalized_variables,
const fuse_core::Graph & graph);
fuse_core::Transaction marginalizeVariables(
const std::string & source,
const std::vector<fuse_core::UUID> & marginalized_variables,
const fuse_core::Graph & graph);
fuse_core::Transaction marginalizeVariables(
const std::string & source,
const std::vector<fuse_core::UUID> & marginalized_variables,
const fuse_core::Graph & graph,
const fuse_constraints::UuidOrdering & elimination_order);
namespace detail
{
struct LinearTerm
{
std::vector<unsigned int> variables;
std::vector<fuse_core::MatrixXd> A;
fuse_core::VectorXd b;
};
LinearTerm linearize(
const fuse_core::Constraint & constraint,
const fuse_core::Graph & graph,
const UuidOrdering & elimination_order);
LinearTerm marginalizeNext(const std::vector<LinearTerm> & linear_terms);
MarginalConstraint::SharedPtr createMarginalConstraint(
const std::string & source,
const LinearTerm & linear_term,
const fuse_core::Graph & graph,
const UuidOrdering & elimination_order);
} // namespace detail
} // namespace fuse_constraints
#endif // FUSE_CONSTRAINTS__MARGINALIZE_VARIABLES_HPP_