HybridGaussianProductFactor.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/DecisionTree.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/GaussianFactorGraph.h>
 
#include <iostream>
 
namespace gtsam {
 
class HybridGaussianFactor;
 
using GaussianFactorGraphValuePair = std::pair<GaussianFactorGraph, double>;

class GTSAM_EXPORT HybridGaussianProductFactor
    : public DecisionTree<Key, GaussianFactorGraphValuePair> {
 public:
  using Base = DecisionTree<Key, GaussianFactorGraphValuePair>;


  HybridGaussianProductFactor() = default;

  template <class FACTOR>
  HybridGaussianProductFactor(const std::shared_ptr<FACTOR>& factor)
      : Base(GaussianFactorGraphValuePair{GaussianFactorGraph{factor}, 0.0}) {}

  HybridGaussianProductFactor(Base&& tree) : Base(std::move(tree)) {}



  HybridGaussianProductFactor operator+(
      const GaussianFactor::shared_ptr& factor) const;

  HybridGaussianProductFactor operator+(
      const HybridGaussianFactor& factor) const;

  HybridGaussianProductFactor& operator+=(
      const GaussianFactor::shared_ptr& factor);

  HybridGaussianProductFactor& operator+=(const HybridGaussianFactor& factor);



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

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



  HybridGaussianProductFactor removeEmpty() const;

 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
#endif
};
 
// Testable traits
template <>
struct traits<HybridGaussianProductFactor>
    : public Testable<HybridGaussianProductFactor> {};

std::istream& operator>>(std::istream& is, GaussianFactorGraphValuePair& pair);
 
}  // namespace gtsam