HybridNonlinearISAM.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/HybridGaussianISAM.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
 
#include <optional>
 
namespace gtsam {
class GTSAM_EXPORT HybridNonlinearISAM {
 protected:
  gtsam::HybridGaussianISAM isam_;

  Values linPoint_;

  DiscreteValues assignment_;

  HybridNonlinearFactorGraph factors_;

  int reorderInterval_;
  int reorderCounter_;

  HybridGaussianFactorGraph::Eliminate eliminationFunction_;
 
 public:

  HybridNonlinearISAM(
      int reorderInterval = 1,
      const HybridGaussianFactorGraph::Eliminate& eliminationFunction =
          HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
      : reorderInterval_(reorderInterval),
        reorderCounter_(0),
        eliminationFunction_(eliminationFunction) {}


  Values estimate();
 
  // /** find the marginal covariance for a single variable */
  // Matrix marginalCovariance(Key key) const;
 
  // access

  const HybridGaussianISAM& bayesTree() const { return isam_; }

  void prune(const size_t maxNumberLeaves) { isam_.prune(maxNumberLeaves); }

  const Values& getLinearizationPoint() const { return linPoint_; }

  const DiscreteValues& assignment() const { return assignment_; }

  const HybridNonlinearFactorGraph& getFactorsUnsafe() const {
    return factors_;
  }

  int reorderInterval() const { return reorderInterval_; }  
  int reorderCounter() const { return reorderCounter_; }    

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

  void printStats() const;

  void saveGraph(const std::string& s,
                 const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

  void update(const HybridNonlinearFactorGraph& newFactors,
              const Values& initialValues,
              const std::optional<size_t>& maxNrLeaves = {},
              const std::optional<Ordering>& ordering = {});

  void reorderRelinearize();

};
 
}  // namespace gtsam