NonlinearFactorGraph.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/geometry/Point2.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/inference/FactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>

#include <boost/shared_ptr.hpp>
#include <functional>

namespace gtsam {

  // Forward declarations
  class Values;
  class Ordering;
  class GaussianFactorGraph;
  class SymbolicFactorGraph;
  template<typename T>
  class Expression;
  template<typename T>
  class ExpressionFactor;

  struct GTSAM_EXPORT GraphvizFormatting {
    enum Axis { X, Y, Z, NEGX, NEGY, NEGZ }; 
    Axis paperHorizontalAxis; 
    Axis paperVerticalAxis; 
    double figureWidthInches; 
    double figureHeightInches; 
    double scale; 
    bool mergeSimilarFactors; 
    bool plotFactorPoints; 
    bool connectKeysToFactor; 
    bool binaryEdges; 
    std::map<size_t, Point2> factorPositions; 
    GraphvizFormatting() :
      paperHorizontalAxis(Y), paperVerticalAxis(X),
      figureWidthInches(5), figureHeightInches(5), scale(1),
      mergeSimilarFactors(false), plotFactorPoints(true),
      connectKeysToFactor(true), binaryEdges(true) {}
  };


  class GTSAM_EXPORT NonlinearFactorGraph: public FactorGraph<NonlinearFactor> {

  public:

    typedef FactorGraph<NonlinearFactor> Base;
    typedef NonlinearFactorGraph This;
    typedef boost::shared_ptr<This> shared_ptr;

    NonlinearFactorGraph() {}

    template<typename ITERATOR>
    NonlinearFactorGraph(ITERATOR firstFactor, ITERATOR lastFactor) : Base(firstFactor, lastFactor) {}

    template<class CONTAINER>
    explicit NonlinearFactorGraph(const CONTAINER& factors) : Base(factors) {}

    template<class DERIVEDFACTOR>
    NonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}

    virtual ~NonlinearFactorGraph() {}

    void print(
        const std::string& str = "NonlinearFactorGraph: ",
        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;

    void printErrors(const Values& values, const std::string& str = "NonlinearFactorGraph: ",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
      const std::function<bool(const Factor* /*factor*/, double /*whitenedError*/, size_t /*index*/)>&
        printCondition = [](const Factor *,double, size_t) {return true;}) const;

    bool equals(const NonlinearFactorGraph& other, double tol = 1e-9) const;

    void saveGraph(std::ostream& stm, const Values& values = Values(),
      const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

    void saveGraph(const std::string& file, const Values& values = Values(),
      const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

    double error(const Values& values) const;

    double probPrime(const Values& values) const;

    boost::shared_ptr<SymbolicFactorGraph> symbolic() const;

    Ordering orderingCOLAMD() const;

    Ordering orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) const;

    boost::shared_ptr<GaussianFactorGraph> linearize(const Values& linearizationPoint) const;

    typedef std::function<void(const boost::shared_ptr<HessianFactor>& hessianFactor)> Dampen;

    boost::shared_ptr<HessianFactor> linearizeToHessianFactor(
        const Values& values, const Dampen& dampen = nullptr) const;

    boost::shared_ptr<HessianFactor> linearizeToHessianFactor(
        const Values& values, const Ordering& ordering, const Dampen& dampen = nullptr) const;

    Values updateCholesky(const Values& values,
                          const Dampen& dampen = nullptr) const;

    Values updateCholesky(const Values& values, const Ordering& ordering,
                          const Dampen& dampen = nullptr) const;

    NonlinearFactorGraph clone() const;

    NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;

    template<typename T>
    void addExpressionFactor(const SharedNoiseModel& R, const T& z,
                             const Expression<T>& h) {
      push_back(boost::make_shared<ExpressionFactor<T> >(R, z, h));
    }

    template<typename T>
    void addPrior(Key key, const T& prior,
                  const SharedNoiseModel& model = nullptr) {
      emplace_shared<PriorFactor<T>>(key, prior, model);
    }

    template<typename T>
    void addPrior(Key key, const T& prior, const Matrix& covariance) {
      emplace_shared<PriorFactor<T>>(key, prior, covariance);
    }

  private:

    boost::shared_ptr<HessianFactor> linearizeToHessianFactor(
        const Values& values, const Scatter& scatter, const Dampen& dampen = nullptr) const;

    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & boost::serialization::make_nvp("NonlinearFactorGraph",
                boost::serialization::base_object<Base>(*this));
    }

  public:

    boost::shared_ptr<HessianFactor> linearizeToHessianFactor(
        const Values& values, boost::none_t, const Dampen& dampen = nullptr) const
      {return linearizeToHessianFactor(values, dampen);}

    Values updateCholesky(const Values& values, boost::none_t,
                          const Dampen& dampen = nullptr) const
      {return updateCholesky(values, dampen);}

  };

template<>
struct traits<NonlinearFactorGraph> : public Testable<NonlinearFactorGraph> {
};

} //\ namespace gtsam