HybridValues.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/DiscreteValues.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/Values.h>
 
#include <map>
#include <string>
#include <vector>
 
namespace gtsam {

class GTSAM_EXPORT HybridValues {
 private:
  VectorValues continuous_;

  DiscreteValues discrete_;

  Values nonlinear_;
 
 public:

  HybridValues() = default;

  HybridValues(const VectorValues& cv, const DiscreteValues& dv);

  HybridValues(const VectorValues& cv, const DiscreteValues& dv,
               const Values& v);

  HybridValues(const DiscreteValues& dv, const Values& v);


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

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


  const VectorValues& continuous() const;

  const DiscreteValues& discrete() const;

  const Values& nonlinear() const;

  bool existsVector(Key j);

  bool existsDiscrete(Key j);

  bool existsNonlinear(Key j);

  bool exists(Key j);

  HybridValues retract(const VectorValues& delta) const;

  HybridValues& insert(Key j, const Vector& value);

  HybridValues& insert(Key j, size_t value);

  template <typename T>
  HybridValues& insertNonlinear(Key j, const T& value) {
    nonlinear_.insert<T>(j, value);
    return *this;
  }

  void insert_or_assign(Key j, const Vector& value);

  void insert_or_assign(Key j, size_t value);

  HybridValues& insert(const VectorValues& values);

  HybridValues& insert(const DiscreteValues& values);

  HybridValues& insert(const Values& values);

  HybridValues& insert(const HybridValues& values);

  Vector& at(Key j);

  size_t& atDiscrete(Key j);

  HybridValues& update(const VectorValues& values);

  HybridValues& update(const DiscreteValues& values);

  HybridValues& update(const Values& values);

  HybridValues& update(const HybridValues& values);

  VectorValues continuousSubset(const KeyVector& keys) const;


  std::string html(
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

};
 
// traits
template <>
struct traits<HybridValues> : public Testable<HybridValues> {};
 
}  // namespace gtsam