122 lines
3.5 KiB
C++
122 lines
3.5 KiB
C++
/**
|
|
* @file LinearContainerFactor.h
|
|
*
|
|
* @brief Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph
|
|
*
|
|
* @date Jul 6, 2012
|
|
* @author Alex Cunningham
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/linear/HessianFactor.h>
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Dummy version of a generic linear factor to be injected into a nonlinear factor graph
|
|
*/
|
|
class LinearContainerFactor : public NonlinearFactor {
|
|
protected:
|
|
|
|
GaussianFactor::shared_ptr factor_;
|
|
|
|
public:
|
|
|
|
/** Primary constructor: store a linear factor and decode the ordering */
|
|
LinearContainerFactor(const JacobianFactor& factor, const Ordering& ordering);
|
|
|
|
/** Primary constructor: store a linear factor and decode the ordering */
|
|
LinearContainerFactor(const HessianFactor& factor, const Ordering& ordering);
|
|
|
|
/** Constructor from shared_ptr */
|
|
LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering);
|
|
|
|
/** Constructor from re-keyed factor: all indices assumed replaced with Key */
|
|
LinearContainerFactor(const GaussianFactor::shared_ptr& factor);
|
|
|
|
/** Alternate constructor: store a linear factor and decode keys with inverted ordering*/
|
|
LinearContainerFactor(const JacobianFactor& factor,
|
|
const Ordering::InvertedMap& inverted_ordering);
|
|
|
|
/** Alternate constructor: store a linear factor and decode keys with inverted ordering*/
|
|
LinearContainerFactor(const HessianFactor& factor,
|
|
const Ordering::InvertedMap& inverted_ordering);
|
|
|
|
/** Constructor from shared_ptr with inverted ordering*/
|
|
LinearContainerFactor(const GaussianFactor::shared_ptr& factor,
|
|
const Ordering::InvertedMap& ordering);
|
|
|
|
// Access
|
|
|
|
const GaussianFactor::shared_ptr& factor() const { return factor_; }
|
|
|
|
// Testable
|
|
|
|
/** print */
|
|
void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
|
|
|
|
/** Check if two factors are equal */
|
|
bool equals(const NonlinearFactor& f, double tol = 1e-9) const;
|
|
|
|
// NonlinearFactor
|
|
|
|
/**
|
|
* Calculate the error of the factor: uses the underlying linear factor to compute ordering
|
|
*/
|
|
double error(const Values& c) const;
|
|
|
|
/** get the dimension of the factor: rows of linear factor */
|
|
size_t dim() const;
|
|
|
|
/** linearize to a GaussianFactor: values has no effect, just clones/rekeys underlying factor */
|
|
boost::shared_ptr<GaussianFactor>
|
|
linearize(const Values& c, const Ordering& ordering) const;
|
|
|
|
/**
|
|
* Creates an anti-factor directly and performs rekeying due to ordering
|
|
*/
|
|
GaussianFactor::shared_ptr negate(const Ordering& ordering) const;
|
|
|
|
/**
|
|
* Creates the equivalent anti-factor as another LinearContainerFactor,
|
|
* so it remains independent of ordering.
|
|
*/
|
|
NonlinearFactor::shared_ptr negate() const;
|
|
|
|
|
|
|
|
/**
|
|
* Creates a shared_ptr clone of the factor - needs to be specialized to allow
|
|
* for subclasses
|
|
*
|
|
* Clones the underlying linear factor
|
|
*/
|
|
NonlinearFactor::shared_ptr clone() const {
|
|
return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_));
|
|
}
|
|
|
|
// casting syntactic sugar
|
|
|
|
/**
|
|
* Simple check whether this is a Jacobian or Hessian factor
|
|
*/
|
|
bool isJacobian() const;
|
|
|
|
/** Casts to JacobianFactor */
|
|
JacobianFactor::shared_ptr toJacobian() const;
|
|
|
|
/** Casts to HessianFactor */
|
|
HessianFactor::shared_ptr toHessian() const;
|
|
|
|
protected:
|
|
void rekeyFactor(const Ordering& ordering);
|
|
void rekeyFactor(const Ordering::InvertedMap& invOrdering);
|
|
|
|
}; // \class LinearContainerFactor
|
|
|
|
} // \namespace gtsam
|
|
|
|
|