GaussianMixtureFactor.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

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

#pragma once

#include <gtsam/discrete/AlgebraicDecisionTree.h>
#include <gtsam/discrete/DecisionTree.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>

namespace gtsam {

class HybridValues;
class DiscreteValues;
class VectorValues;

class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
 public:
  using Base = HybridFactor;
  using This = GaussianMixtureFactor;
  using shared_ptr = std::shared_ptr<This>;

  using sharedFactor = std::shared_ptr<GaussianFactor>;

  using Factors = DecisionTree<Key, sharedFactor>;

 private:
  Factors factors_;

  GaussianFactorGraphTree asGaussianFactorGraphTree() const;

 public:

  GaussianMixtureFactor() = default;

  GaussianMixtureFactor(const KeyVector &continuousKeys,
                        const DiscreteKeys &discreteKeys,
                        const Factors &factors);

  GaussianMixtureFactor(const KeyVector &continuousKeys,
                        const DiscreteKeys &discreteKeys,
                        const std::vector<sharedFactor> &factors)
      : GaussianMixtureFactor(continuousKeys, discreteKeys,
                              Factors(discreteKeys, factors)) {}


  bool equals(const HybridFactor &lf, double tol = 1e-9) const override;

  void print(
      const std::string &s = "GaussianMixtureFactor\n",
      const KeyFormatter &formatter = DefaultKeyFormatter) const override;


  sharedFactor operator()(const DiscreteValues &assignment) const;

  GaussianFactorGraphTree add(const GaussianFactorGraphTree &sum) const;

  AlgebraicDecisionTree<Key> error(const VectorValues &continuousValues) const;

  double error(const HybridValues &values) const override;

  friend GaussianFactorGraphTree &operator+=(
      GaussianFactorGraphTree &sum, const GaussianMixtureFactor &factor) {
    sum = factor.add(sum);
    return sum;
  }

 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_BASE_OBJECT_NVP(Base);
    ar &BOOST_SERIALIZATION_NVP(factors_);
  }
#endif
};

// traits
template <>
struct traits<GaussianMixtureFactor> : public Testable<GaussianMixtureFactor> {
};

}  // namespace gtsam