LinearContainerFactor.h

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#pragma once

#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/base/std_optional_serialization.h>

#include <optional>

namespace gtsam {

  // Forward declarations
  class JacobianFactor;
  class HessianFactor;

class GTSAM_EXPORT LinearContainerFactor : public NonlinearFactor {
protected:

  GaussianFactor::shared_ptr factor_;
  std::optional<Values> linearizationPoint_;

  LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const std::optional<Values>& linearizationPoint);

  // Some handy typedefs
  typedef NonlinearFactor Base;
  typedef LinearContainerFactor This;

public:

  typedef std::shared_ptr<This> shared_ptr;

  LinearContainerFactor() {}

  LinearContainerFactor(const JacobianFactor& factor, const Values& linearizationPoint = Values());

  LinearContainerFactor(const HessianFactor& factor, const Values& linearizationPoint = Values());

  LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Values& linearizationPoint = Values());

  // Access

  const GaussianFactor::shared_ptr& factor() const { return factor_; }

  // Testable

  void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;

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

  // NonlinearFactor

  double error(const Values& c) const override;

  size_t dim() const override;

  const std::optional<Values>& linearizationPoint() const { return linearizationPoint_; }

  GaussianFactor::shared_ptr linearize(const Values& c) const override;

  GaussianFactor::shared_ptr negateToGaussian() const;

  NonlinearFactor::shared_ptr negateToNonlinear() const;

  NonlinearFactor::shared_ptr clone() const override {
    return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_,linearizationPoint_));
  }

  NonlinearFactor::shared_ptr rekey(
      const std::map<Key, Key>& rekey_mapping) const override;

  NonlinearFactor::shared_ptr rekey(const KeyVector& new_keys) const override;

  inline bool hasLinearizationPoint() const { return linearizationPoint_.has_value(); }

  bool isJacobian() const;
  bool isHessian() const;

  std::shared_ptr<JacobianFactor> toJacobian() const;

  std::shared_ptr<HessianFactor> toHessian() const;

  static NonlinearFactorGraph ConvertLinearGraph(const GaussianFactorGraph& linear_graph,
      const Values& linearizationPoint = Values());

 protected:
  void initializeLinearizationPoint(const Values& linearizationPoint);

 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::make_nvp("NonlinearFactor",
        boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(factor_);
    ar & BOOST_SERIALIZATION_NVP(linearizationPoint_);
  }
#endif

}; // \class LinearContainerFactor

template<> struct traits<LinearContainerFactor> : public Testable<LinearContainerFactor> {};

} // \namespace gtsam