AntiFactor.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 <ostream>
 
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
 
namespace gtsam {
 
  class AntiFactor: public NonlinearFactor {
 
  private:
 
    typedef AntiFactor This;
    typedef NonlinearFactor Base;
    typedef NonlinearFactor::shared_ptr sharedFactor;
 
    sharedFactor factor_;
 
  public:
 
    // shorthand for a smart pointer to a factor
    typedef std::shared_ptr<AntiFactor> shared_ptr;
 
    AntiFactor() {}
 
    AntiFactor(NonlinearFactor::shared_ptr factor) : Base(factor->keys()), factor_(factor) {}
 
    ~AntiFactor() override {}
 
    gtsam::NonlinearFactor::shared_ptr clone() const override {
      return std::static_pointer_cast<gtsam::NonlinearFactor>(
          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
 
    void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
      std::cout << s << "AntiFactor version of:" << std::endl;
      factor_->print(s, keyFormatter);
    }
 
    bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
      const This *e =  dynamic_cast<const This*> (&expected);
      return e != nullptr && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol);
    }
 
    double error(const Values& c) const override { return -factor_->error(c); }
 
    size_t dim() const override { return factor_->dim(); }
 
    bool active(const Values& c) const override { return factor_->active(c); }
 
    std::shared_ptr<GaussianFactor> linearize(const Values& c) const override {
 
      // Generate the linearized factor from the contained nonlinear factor
      GaussianFactor::shared_ptr gaussianFactor = factor_->linearize(c);
 
      // return the negated version of the factor
      return gaussianFactor->negate();
    }
 
 
  private:
 
#ifdef 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("AntiFactor",
          boost::serialization::base_object<Base>(*this));
      ar & BOOST_SERIALIZATION_NVP(factor_);
    }
#endif
  }; // \class AntiFactor
 
}