98 lines
3.4 KiB
C++
98 lines
3.4 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file GaussianMixtureFactor.cpp
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* @brief A set of Gaussian factors indexed by a set of discrete keys.
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* @author Fan Jiang
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* @author Varun Agrawal
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* @author Frank Dellaert
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* @date Mar 12, 2022
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*/
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#include <gtsam/base/utilities.h>
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#include <gtsam/discrete/DecisionTree-inl.h>
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#include <gtsam/discrete/DecisionTree.h>
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#include <gtsam/hybrid/GaussianMixtureFactor.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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namespace gtsam {
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/* *******************************************************************************/
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GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
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const DiscreteKeys &discreteKeys,
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const Factors &factors)
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: Base(continuousKeys, discreteKeys), factors_(factors) {}
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/* *******************************************************************************/
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bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
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const This *e = dynamic_cast<const This *>(&lf);
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return e != nullptr && Base::equals(*e, tol);
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}
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/* *******************************************************************************/
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GaussianMixtureFactor GaussianMixtureFactor::FromFactors(
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const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
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const std::vector<GaussianFactor::shared_ptr> &factors) {
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Factors dt(discreteKeys, factors);
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return GaussianMixtureFactor(continuousKeys, discreteKeys, dt);
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}
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/* *******************************************************************************/
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void GaussianMixtureFactor::print(const std::string &s,
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const KeyFormatter &formatter) const {
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HybridFactor::print(s, formatter);
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std::cout << "]{\n";
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factors_.print(
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"", [&](Key k) { return formatter(k); },
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[&](const GaussianFactor::shared_ptr &gf) -> std::string {
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RedirectCout rd;
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std::cout << ":\n";
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if (gf)
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gf->print("", formatter);
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else
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return {"nullptr"};
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return rd.str();
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});
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std::cout << "}" << std::endl;
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}
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/* *******************************************************************************/
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const GaussianMixtureFactor::Factors &GaussianMixtureFactor::factors() {
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return factors_;
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}
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/* *******************************************************************************/
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GaussianMixtureFactor::Sum GaussianMixtureFactor::add(
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const GaussianMixtureFactor::Sum &sum) const {
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using Y = GaussianFactorGraph;
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auto add = [](const Y &graph1, const Y &graph2) {
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auto result = graph1;
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result.push_back(graph2);
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return result;
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};
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const Sum tree = asGaussianFactorGraphTree();
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return sum.empty() ? tree : sum.apply(tree, add);
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}
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/* *******************************************************************************/
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GaussianMixtureFactor::Sum GaussianMixtureFactor::asGaussianFactorGraphTree()
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const {
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auto wrap = [](const GaussianFactor::shared_ptr &factor) {
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GaussianFactorGraph result;
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result.push_back(factor);
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return result;
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};
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return {factors_, wrap};
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}
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} // namespace gtsam
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