54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* 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 EqualityFactorGraph.h
|
|
* @brief Factor graph of all LinearEquality factors
|
|
* @date Dec 8, 2014
|
|
* @author Duy-Nguyen Ta
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/inference/FactorGraph.h>
|
|
#include <gtsam_unstable/linear/LinearEquality.h>
|
|
|
|
namespace gtsam {
|
|
/**
|
|
* This class is used to represent an equality constraint on
|
|
* a Programming problem of the form Ax = b.
|
|
*/
|
|
class EqualityFactorGraph: public FactorGraph<LinearEquality> {
|
|
public:
|
|
typedef boost::shared_ptr<EqualityFactorGraph> shared_ptr;
|
|
|
|
/** compute error of a guess.
|
|
* TODO: This code is duplicated in GaussianFactorGraph and NonlinearFactorGraph!!
|
|
* Remove it!
|
|
*/
|
|
double error(const VectorValues& x) const {
|
|
double total_error = 0.;
|
|
for (const sharedFactor& factor : *this) {
|
|
if (factor)
|
|
total_error += factor->error(x);
|
|
}
|
|
return total_error;
|
|
}
|
|
};
|
|
|
|
/// traits
|
|
template<> struct traits<EqualityFactorGraph> : public Testable<
|
|
EqualityFactorGraph> {
|
|
};
|
|
|
|
} // \ namespace gtsam
|
|
|