ISAM2Result.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

#include <string>
#include <vector>

#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <gtsam/nonlinear/ISAM2Params.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>

namespace gtsam {

struct ISAM2Result {
  std::optional<double> errorBefore;

  std::optional<double> errorAfter;

  size_t variablesRelinearized;

  size_t variablesReeliminated;

  size_t factorsRecalculated;

  size_t cliques;

  FactorIndices newFactorsIndices;

  KeySet unusedKeys;

  KeyVector observedKeys;

  KeySet keysWithRemovedFactors;

  KeySet markedKeys;

  struct DetailedResults {
    struct VariableStatus {
      bool isReeliminated;
      bool isAboveRelinThreshold;  
      bool isRelinearizeInvolved;  
      bool isRelinearized;  
      bool isObserved;      
      bool isNew;           
      bool inRootClique;    
      VariableStatus()
          : isReeliminated(false),
            isAboveRelinThreshold(false),
            isRelinearizeInvolved(false),
            isRelinearized(false),
            isObserved(false),
            isNew(false),
            inRootClique(false) {}
    };

    using StatusMap = FastMap<Key, VariableStatus>;

    StatusMap variableStatus;
  };

  std::optional<DetailedResults> detail;

  explicit ISAM2Result(bool enableDetailedResults = false) {
    if (enableDetailedResults) detail = DetailedResults();
  }

  DetailedResults* details() {
    if (detail.has_value()) {
      return &(*detail);
    } else {
      return nullptr;
    }
  }

  void print(const std::string str = "") const {
    using std::cout;
    cout << str << "  Reelimintated: " << variablesReeliminated
         << "  Relinearized: " << variablesRelinearized
         << "  Cliques: " << cliques << std::endl;
  }

  size_t getVariablesRelinearized() const { return variablesRelinearized; }
  size_t getVariablesReeliminated() const { return variablesReeliminated; }
  FactorIndices getNewFactorsIndices() const { return newFactorsIndices; }
  size_t getCliques() const { return cliques; }
  double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
  double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
};

}  // namespace gtsam