126 lines
3.3 KiB
C++
126 lines
3.3 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 LinearCost.h
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* @brief LinearCost derived from JacobianFactor to support linear cost functions c'x
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* @date Nov 27, 2014
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* @author Duy-Nguyen Ta
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*/
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#pragma once
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#include <gtsam/linear/JacobianFactor.h>
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namespace gtsam {
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typedef Eigen::RowVectorXd RowVector;
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/**
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* This class defines a linear inequality constraint g(x)<=0,
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* inheriting JacobianFactor with the special Constrained noise model
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*/
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class LinearCost: public JacobianFactor {
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public:
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typedef LinearCost This; ///< Typedef to this class
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typedef JacobianFactor Base; ///< Typedef to base class
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typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
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public:
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/** default constructor for I/O */
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LinearCost() :
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Base() {
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}
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/** Conversion from HessianFactor */
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explicit LinearCost(const HessianFactor& hf) {
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throw std::runtime_error("Cannot convert HessianFactor to LinearCost");
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}
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/** Conversion from JacobianFactor */
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explicit LinearCost(const JacobianFactor& jf) :
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Base(jf) {
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if (jf.isConstrained()) {
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throw std::runtime_error(
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"Cannot convert a constrained JacobianFactor to LinearCost");
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}
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if (jf.get_model()->dim() != 1) {
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throw std::runtime_error(
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"Only support single-valued linear cost factor!");
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}
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}
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/** Construct unary factor */
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LinearCost(Key i1, const RowVector& A1) :
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Base(i1, A1, zero(1)) {
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}
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/** Construct binary factor */
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LinearCost(Key i1, const RowVector& A1, Key i2, const RowVector& A2,
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double b) :
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Base(i1, A1, i2, A2, zero(1)) {
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}
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/** Construct ternary factor */
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LinearCost(Key i1, const RowVector& A1, Key i2, const RowVector& A2, Key i3,
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const RowVector& A3) :
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Base(i1, A1, i2, A2, i3, A3, zero(1)) {
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}
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/** Construct an n-ary factor
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* @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the
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* collection of keys and matrices making up the factor. */
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template<typename TERMS>
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LinearCost(const TERMS& terms) :
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Base(terms, zero(1)) {
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}
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/** Virtual destructor */
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virtual ~LinearCost() {
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}
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/** equals */
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virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const {
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return Base::equals(lf, tol);
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}
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/** print */
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virtual void print(const std::string& s = "",
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const KeyFormatter& formatter = DefaultKeyFormatter) const {
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Base::print(s + " LinearCost: ", formatter);
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}
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/** Clone this LinearCost */
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virtual GaussianFactor::shared_ptr clone() const {
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return boost::static_pointer_cast<GaussianFactor>(
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boost::make_shared<LinearCost>(*this));
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}
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/** Special error_vector for constraints (A*x-b) */
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Vector error_vector(const VectorValues& c) const {
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return unweighted_error(c);
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}
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/** Special error for single-valued inequality constraints. */
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virtual double error(const VectorValues& c) const {
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return error_vector(c)[0];
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}
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};
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// \ LinearCost
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/// traits
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template<> struct traits<LinearCost> : public Testable<LinearCost> {
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};
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} // \ namespace gtsam
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