Marginals.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/GaussianBayesTree.h>
#include <gtsam/linear/JointMarginal.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
 
namespace gtsam {

class GTSAM_EXPORT Marginals {
 
 public:
  enum Factorization {
    CHOLESKY,
    QR
  };
 
 protected:
  GaussianFactorGraph graph_;
  Values values_;
  Factorization factorization_;
  GaussianBayesTree bayesTree_;
 
 public:

  Marginals(){}

  Marginals(const NonlinearFactorGraph& graph, const Values& solution,
            Factorization factorization = CHOLESKY);

  Marginals(const NonlinearFactorGraph& graph, const Values& solution, const Ordering& ordering,
              Factorization factorization = CHOLESKY);

  Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY);

  Marginals(const GaussianFactorGraph& graph, const Values& solution, const Ordering& ordering,
              Factorization factorization = CHOLESKY);

  Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY);

  Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, const Ordering& ordering,
              Factorization factorization = CHOLESKY);

  Marginals(GaussianBayesTree&& bayesTree, const VectorValues& solution,
            Factorization factorization = CHOLESKY);

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

  GaussianFactor::shared_ptr marginalFactor(Key variable) const;

  Matrix marginalInformation(Key variable) const;

  Matrix marginalCovariance(Key variable) const;

  JointMarginal jointMarginalCovariance(const KeyVector& variables) const;

  JointMarginal jointMarginalInformation(const KeyVector& variables) const;

  void deleteCachedShortcuts();

  VectorValues optimize() const;
 
 protected:
  GaussianFactorGraph::Eliminate eliminationFunction() const;
  
  void computeBayesTree();

  void computeBayesTree(const Ordering& ordering);
};
 
} /* namespace gtsam */