LinearCost.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/linear/JacobianFactor.h>

namespace gtsam {

typedef Eigen::RowVectorXd RowVector;

class LinearCost: public JacobianFactor {
public:
  typedef LinearCost This; 
  typedef JacobianFactor Base; 
  typedef std::shared_ptr<This> shared_ptr; 

public:
  LinearCost() :
      Base() {
  }

  explicit LinearCost(const HessianFactor& hf) {
    throw std::runtime_error("Cannot convert HessianFactor to LinearCost");
  }

  explicit LinearCost(const JacobianFactor& jf) :
      Base(jf) {
    if (jf.isConstrained()) {
      throw std::runtime_error(
          "Cannot convert a constrained JacobianFactor to LinearCost");
    }

    if (jf.get_model()->dim() != 1) {
      throw std::runtime_error(
          "Only support single-valued linear cost factor!");
    }
  }

  LinearCost(Key i1, const RowVector& A1) :
      Base(i1, A1, Vector1::Zero()) {
  }

  LinearCost(Key i1, const RowVector& A1, Key i2, const RowVector& A2, double b) :
      Base(i1, A1, i2, A2, Vector1::Zero()) {
  }

  LinearCost(Key i1, const RowVector& A1, Key i2, const RowVector& A2, Key i3,
      const RowVector& A3) :
      Base(i1, A1, i2, A2, i3, A3, Vector1::Zero()) {
  }

  template<typename TERMS>
  LinearCost(const TERMS& terms) :
      Base(terms, Vector1::Zero()) {
  }

  ~LinearCost() override {
  }

  bool equals(const GaussianFactor& lf, double tol = 1e-9) const override {
    return Base::equals(lf, tol);
  }

  void print(const std::string& s = "", const KeyFormatter& formatter =
      DefaultKeyFormatter) const override {
    Base::print(s + " LinearCost: ", formatter);
  }

  GaussianFactor::shared_ptr clone() const override {
    return std::static_pointer_cast < GaussianFactor
        > (std::make_shared < LinearCost > (*this));
  }

  Vector error_vector(const VectorValues& c) const {
    return unweighted_error(c);
  }

  double error(const VectorValues& c) const override {
    return error_vector(c)[0];
  }
};
// \ LinearCost

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

} // \ namespace gtsam