ConcurrentFilteringAndSmoothing.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_unstable/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/GaussianFactorGraph.h>
 
namespace gtsam {
 
// Forward declare the Filter and Smoother classes for the 'synchronize' function
class ConcurrentFilter;
class ConcurrentSmoother;
 
void GTSAM_UNSTABLE_EXPORT synchronize(ConcurrentFilter& filter, ConcurrentSmoother& smoother);
 
class GTSAM_UNSTABLE_EXPORT ConcurrentFilter {
public:
  typedef std::shared_ptr<ConcurrentFilter> shared_ptr;
 
  ConcurrentFilter() = default;
 
  virtual ~ConcurrentFilter() = default;
 
  virtual void print(
      const std::string& s = "Concurrent Filter:\n",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
 
  virtual bool equals(const ConcurrentFilter& rhs, double tol = 1e-9) const = 0;
 
  virtual void presync() {}
 
  virtual void getSummarizedFactors(NonlinearFactorGraph& summarizedFactors, Values& separatorValues) = 0;
 
  virtual void getSmootherFactors(NonlinearFactorGraph& smootherFactors, Values& smootherValues) = 0;
 
  virtual void synchronize(const NonlinearFactorGraph& summarizedFactors, const Values& separatorValues) = 0;
 
  virtual void postsync() {}
 
}; // ConcurrentFilter
 
class GTSAM_UNSTABLE_EXPORT ConcurrentSmoother {
public:
  typedef std::shared_ptr<ConcurrentSmoother> shared_ptr;
 
  ConcurrentSmoother() {}
 
  virtual ~ConcurrentSmoother() = default;
 
  virtual void print(
      const std::string& s = "Concurrent Smoother:\n",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const = 0;
 
  virtual bool equals(const ConcurrentSmoother& rhs, double tol = 1e-9) const = 0;
 
  virtual void presync() {}
 
  virtual void getSummarizedFactors(NonlinearFactorGraph& summarizedFactors, Values& separatorValues) = 0;
 
  virtual void synchronize(const NonlinearFactorGraph& smootherFactors, const Values& smootherValues,
      const NonlinearFactorGraph& summarizedFactors, const Values& rootValues) = 0;
 
  virtual void postsync() {}
 
}; // ConcurrentSmoother
 
namespace internal {
 
  NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph, const Values& theta,
      const KeySet& remainingKeys, const GaussianFactorGraph::Eliminate& eliminateFunction);
 
}
 
}