Factor.h

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

 * 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

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

// \callgraph

#pragma once

#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <memory>

#include <gtsam/base/types.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Key.h>

namespace gtsam {

  typedef FastVector<FactorIndex> FactorIndices;
  typedef FastSet<FactorIndex> FactorIndexSet;

  class HybridValues; // forward declaration of a Value type for error.

  class GTSAM_EXPORT Factor
  {

  private:
    // These typedefs are private because they must be overridden in derived classes.
    typedef Factor This; 
    typedef std::shared_ptr<Factor> shared_ptr; 

  public:
    typedef KeyVector::iterator iterator;

    typedef KeyVector::const_iterator const_iterator;

  protected:

    KeyVector keys_;


    Factor() {}

    template<typename CONTAINER>
    explicit Factor(const CONTAINER& keys) : keys_(keys.begin(), keys.end()) {}

    template<typename ITERATOR>
    Factor(ITERATOR first, ITERATOR last) : keys_(first, last) {}

    template<typename CONTAINER>
    static Factor FromKeys(const CONTAINER& keys) {
      return Factor(keys.begin(), keys.end()); }

    template<typename ITERATOR>
    static Factor FromIterators(ITERATOR first, ITERATOR last) {
      return Factor(first, last); }


  public:
   // public since it is required for boost serialization and static methods.
   // virtual since it is public.
   // http://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#Rc-dtor-virtual
   virtual ~Factor() = default;


   bool empty() const { return keys_.empty(); }

   Key front() const { return keys_.front(); }

   Key back() const { return keys_.back(); }

   const_iterator find(Key key) const { return std::find(begin(), end(), key); }

   const KeyVector& keys() const { return keys_; }

   const_iterator begin() const { return keys_.begin(); }

   const_iterator end() const { return keys_.end(); }

  virtual double error(const HybridValues& c) const;

   size_t size() const { return keys_.size(); }



   virtual void print(
       const std::string& s = "Factor",
       const KeyFormatter& formatter = DefaultKeyFormatter) const;

   virtual void printKeys(
       const std::string& s = "Factor",
       const KeyFormatter& formatter = DefaultKeyFormatter) const;

    bool equals(const This& other, double tol = 1e-9) const;


    KeyVector& keys() { return keys_; }

    iterator begin() { return keys_.begin(); }

    iterator end() { return keys_.end(); }


  private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_NVP(keys_);
    }
#endif


  };

} // \namespace gtsam