HybridNonlinearFactorGraph.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/hybrid/HybridFactorGraph.h>
#include <gtsam/inference/FactorErrorPredicate.h>
 
namespace gtsam {
 
class HybridGaussianFactorGraph;

class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
 protected:
 public:
  using Base = HybridFactorGraph;
  using This = HybridNonlinearFactorGraph;   
  using shared_ptr = std::shared_ptr<This>;  
 
  using Values = gtsam::Values;  
  using Indices = KeyVector;     

 
  HybridNonlinearFactorGraph() = default;

  template <class DERIVEDFACTOR>
  HybridNonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
      : Base(graph) {}


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

  void printErrors(
      const HybridValues& values,
      const std::string& str = "HybridNonlinearFactorGraph: ",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
      const FactorErrorPredicate&
          printCondition = FactorErrorPredicate{
              [](const Factor*, double, size_t) { return true; }}) const;


  std::shared_ptr<HybridGaussianFactorGraph> linearize(
      const Values& continuousValues) const;

  using Base::error;

  AlgebraicDecisionTree<Key> errorTree(const Values& values) const;

  AlgebraicDecisionTree<Key> discretePosterior(
      const Values& continuousValues) const;

  HybridNonlinearFactorGraph restrict(
      const DiscreteValues& assignment) const;

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