/**
 * @file    smallExample.h
 * @brief   Create small example with two poses and one landmark
 * @brief   smallExample
 * @author  Carlos Nieto
 */


// \callgraph


#pragma once

#include "ConstrainedNonlinearFactorGraph.h"
#include "ConstrainedChordalBayesNet.h"
#include "ConstrainedLinearFactorGraph.h"
#include "NonlinearFactorGraph.h"
#include "FGConfig.h"

// \namespace

namespace gtsam {

/**
 * Create small example for non-linear factor graph
 */
NonlinearFactorGraph createNonlinearFactorGraph() ;

/**
 * Create small example constrained factor graph
 */
ConstrainedLinearFactorGraph createConstrainedLinearFactorGraph();

/**
 * Create small example constrained nonlinear factor graph
 */
ConstrainedNonlinearFactorGraph createConstrainedNonlinearFactorGraph();

/**
 * Create configuration to go with it
 * The ground truth configuration for the example above
 */
FGConfig createConfig();

/**
 * Create configuration for constrained example
 * This is the ground truth version
 */
FGConfig createConstrainedConfig();

/**
 * create a noisy configuration for a nonlinear factor graph
 */
FGConfig createNoisyConfig();

/**
 * Zero delta config
 */
FGConfig createZeroDelta();

/**
 * Delta config that, when added to noisyConfig, returns the ground truth
 */
FGConfig createCorrectDelta();

/**
 * create a linear factor graph
 * The non-linear graph above evaluated at NoisyConfig
 */
LinearFactorGraph createLinearFactorGraph();

/**
 * create small Chordal Bayes Net x <- y
 */
ChordalBayesNet createSmallChordalBayesNet();

/**
 * create small Constrained Chordal Bayes Net (from other constrained example)
 */
ConstrainedChordalBayesNet createConstrainedChordalBayesNet();

/**
 * Create really non-linear factor graph (cos/sin)
 */
NonlinearFactorGraph createReallyNonlinearFactorGraph();

/**
 * Create a noisy configuration for linearization
 */
FGConfig createConstrainedLinConfig();

/**
 * Create the correct delta configuration
 */
FGConfig createConstrainedCorrectDelta();
}