/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

/**
 * @file Expression.h
 * @date September 18, 2014
 * @author Frank Dellaert
 * @author Paul Furgale
 * @brief Expressions for Block Automatic Differentiation
 */

#include <gtsam_unstable/nonlinear/Expression.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/Testable.h>

namespace gtsam {

/**
 * BAD Factor that supports arbitrary expressions via AD
 */
template<class T>
class BADFactor: public NoiseModelFactor {

  const T measurement_;
  const Expression<T> expression_;

public:

  /// Constructor
  BADFactor(const SharedNoiseModel& noiseModel, //
      const T& measurement, const Expression<T>& expression) :
      NoiseModelFactor(noiseModel, expression.keys()), //
      measurement_(measurement), expression_(expression) {
  }

  /**
   * Error function *without* the NoiseModel, \f$ z-h(x) \f$.
   * We override this method to provide
   * both the function evaluation and its derivative(s) in H.
   */
  virtual Vector unwhitenedError(const Values& x,
      boost::optional<std::vector<Matrix>&> H = boost::none) const {
    if (H) {
      assert(H->size()==size());
      typedef std::map<Key, Matrix> MapType;
      MapType terms;
      Augmented<T> augmented = expression_.augmented(x);
      // copy terms to H, which is pre-allocated to correct size
      // TODO apply move semantics
      size_t j = 0;
      MapType::const_iterator it = augmented.jacobians().begin();
      for (; it != augmented.jacobians().end(); ++it)
        (*H)[j++] = it->second;
      return measurement_.localCoordinates(augmented.value());
    } else {
      const T& value = expression_.value(x);
      return measurement_.localCoordinates(value);
    }
  }

};
// BADFactor

}