NoiseModelFactorN.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
// \callgraph
 
#include <gtsam/linear/FixedJacobianFactor.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
 
#include <array>
#include <type_traits>
#include <utility>
#include <vector>
 
namespace gtsam {
 
/* ************************************************************************* */
namespace detail {
template <typename, typename...>
struct NoiseModelFactorAliases {};
template <typename T1>
struct NoiseModelFactorAliases<T1> {
  using X = T1;
  using X1 = T1;
};
template <typename T1, typename T2>
struct NoiseModelFactorAliases<T1, T2> {
  using X1 = T1;
  using X2 = T2;
};
template <typename T1, typename T2, typename T3>
struct NoiseModelFactorAliases<T1, T2, T3> {
  using X1 = T1;
  using X2 = T2;
  using X3 = T3;
};
template <typename T1, typename T2, typename T3, typename T4>
struct NoiseModelFactorAliases<T1, T2, T3, T4> {
  using X1 = T1;
  using X2 = T2;
  using X3 = T3;
  using X4 = T4;
};
template <typename T1, typename T2, typename T3, typename T4, typename T5>
struct NoiseModelFactorAliases<T1, T2, T3, T4, T5> {
  using X1 = T1;
  using X2 = T2;
  using X3 = T3;
  using X4 = T4;
  using X5 = T5;
};
template <typename T1, typename T2, typename T3, typename T4, typename T5,
          typename T6, typename... TExtra>
struct NoiseModelFactorAliases<T1, T2, T3, T4, T5, T6, TExtra...> {
  using X1 = T1;
  using X2 = T2;
  using X3 = T3;
  using X4 = T4;
  using X5 = T5;
  using X6 = T6;
};
 
}  // namespace detail
 
/* ************************************************************************* */
template <class OutputVec, class... ValueTypes>
class NoiseModelFactorT
    : public NoiseModelFactor,
      public detail::NoiseModelFactorAliases<ValueTypes...> {
 public:
  inline constexpr static auto N = sizeof...(ValueTypes);
 
  using NoiseModelFactor::unwhitenedError;
 
 protected:
  using Base = NoiseModelFactor;
  using This = NoiseModelFactorT<OutputVec, ValueTypes...>;

 
  template <typename From, typename To>
  using IsConvertible =
      typename std::enable_if<std::is_convertible<From, To>::value, void>::type;
 
  template <int I>
  using IndexIsValid = typename std::enable_if<(I >= 1) && (I <= N),
                                               void>::type;  // 1-indexed!
 
  template <typename Container>
  using ContainerElementType =
      typename std::decay<decltype(*std::declval<Container>().begin())>::type;
  template <typename Container>
  using IsContainerOfKeys = IsConvertible<ContainerElementType<Container>, Key>;

  template <typename Ret, typename... Args>
  using AreAllMatrixRefs =
      std::enable_if_t<(... && std::is_convertible<Args, Matrix&>::value), Ret>;
 
  template <typename Arg>
  using IsMatrixPointer = std::is_same<typename std::decay_t<Arg>, Matrix*>;
 
  template <typename Arg>
  using IsNullpointer =
      std::is_same<typename std::decay_t<Arg>, std::nullptr_t>;

  template <typename Ret, typename... Args>
  using AreAllMatrixPtrs =
      std::enable_if_t<(... && (IsMatrixPointer<Args>::value ||
                                IsNullpointer<Args>::value)),
                       Ret>;

 
  /* Like std::void_t, except produces `OptionalMatrixType` instead of
   * `void`. Used to expand fixed-type parameter-packs with same length as
   * ValueTypes. */
  template <typename T = void>
  using OptionalMatrixTypeT = Matrix*;
 
  /* Like std::void_t, except produces `Key` instead of `void`. Used to expand
   * fixed-type parameter-packs with same length as ValueTypes. */
  template <typename T>
  using KeyType = Key;
 
  /* Like std::void_t, except produces `Matrix` instead of
   * `void`. Used to expand fixed-type parameter-packs with same length as
   * ValueTypes. This helps in creating an evaluateError overload that accepts
   * Matrices instead of pointers to matrices */
  template <typename T = void>
  using MatrixTypeT = Matrix;
 
 public:
  template <int I, typename = IndexIsValid<I>>
  using ValueType =
      typename std::tuple_element<I - 1, std::tuple<ValueTypes...>>::type;
 
 public:

  NoiseModelFactorT() {}

  NoiseModelFactorT(const SharedNoiseModel& noiseModel,
                    KeyType<ValueTypes>... keys)
      : Base(noiseModel, std::array<Key, N>{keys...}) {}

  template <typename CONTAINER = std::initializer_list<Key>,
            typename = IsContainerOfKeys<CONTAINER>>
  NoiseModelFactorT(const SharedNoiseModel& noiseModel, CONTAINER keys)
      : Base(noiseModel, keys) {
    if (keys.size() != N) {
      throw std::invalid_argument(
          "NoiseModelFactorT: wrong number of keys given");
    }
  }

 
  ~NoiseModelFactorT() override {}

  template <int I = 1>
  inline Key key() const {
    static_assert(I <= N, "Index out of bounds");
    return keys_[I - 1];
  }


  std::shared_ptr<GaussianFactor> linearize(
      const Values& values) const override {
    using Dimensions = internal::FixedSizeDimensions<OutputVec, ValueTypes...>;
    using Factory = internal::FixedJacobianFactorFactory<
        Dimensions::M, traits<ValueTypes>::dimension...>;
    using UseFixed = std::bool_constant<Dimensions::allFixed &&
                                        Factory::available>;
    return linearizeImpl<Factory>(values, UseFixed{});
  }
 
 private:
  template <typename Factory>
  std::shared_ptr<GaussianFactor> linearizeImpl(const Values& values,
                                                std::true_type) const {
    using Dimensions = internal::FixedSizeDimensions<OutputVec, ValueTypes...>;
    constexpr int M = Dimensions::M;
    static_assert(M > 0 && ((traits<ValueTypes>::dimension > 0) && ...),
                  "Fixed factor dimensions must be positive");
 
    if (!this->active(values)) return std::shared_ptr<JacobianFactor>();
 
    std::vector<Matrix> jacobians(Dimensions::arity);
    Vector b = -this->unwhitenedError(values, jacobians);
    const SharedNoiseModel& noiseModel = this->noiseModel();
    if (noiseModel && static_cast<size_t>(b.size()) != noiseModel->dim()) {
      throw std::invalid_argument(
          "NoiseModelFactor: NoiseModel has dimension " +
          std::to_string(noiseModel->dim()) + " instead of " +
          std::to_string(b.size()) + ".");
    }
    if (b.size() != M || jacobians.size() != Dimensions::arity ||
        !internal::dimensionsMatch<Dimensions>(
            jacobians, std::make_index_sequence<Dimensions::arity>{})) {
      throw std::invalid_argument(
          "NoiseModelFactorT::linearize: error or Jacobian dimension "
          "mismatch");
    }
 
    if (noiseModel) {
      noiseModel->WhitenSystem(jacobians, b);
    }
 
    SharedDiagonal linearModel;
    if (noiseModel && noiseModel->isConstrained()) {
      const auto constrained =
          std::static_pointer_cast<noiseModel::Constrained>(noiseModel);
      linearModel = constrained->unit();
    }
 
    return Factory::create(this->keys_, jacobians, b, linearModel);
  }

  template <typename Factory>
  std::shared_ptr<GaussianFactor> linearizeImpl(const Values& values,
                                                std::false_type) const {
    return NoiseModelFactor::linearize(values);
  }
 
 public:

  Vector unwhitenedError(const Values& x,
                         OptionalMatrixVecType H = nullptr) const override {
    return unwhitenedError(gtsam::index_sequence_for<ValueTypes...>{}, x, H);
  }


  virtual OutputVec evaluateError(
      const ValueTypes&... x, OptionalMatrixTypeT<ValueTypes>... H) const = 0;

  Vector evaluateError(const ValueTypes&... x,
                       MatrixTypeT<ValueTypes>&... H) const {
    return evaluateError(x..., (&H)...);
  }


  inline Vector evaluateError(const ValueTypes&... x) const {
    return evaluateError(x..., OptionalMatrixTypeT<ValueTypes>()...);
  }

  template <typename... OptionalJacArgs,
            typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
  inline AreAllMatrixRefs<Vector, OptionalJacArgs...> evaluateError(
      const ValueTypes&... x, OptionalJacArgs&&... H) const {
    return evaluateError(x..., (&H)...);
  }

  template <typename... OptionalJacArgs,
            typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
  inline AreAllMatrixPtrs<Vector, OptionalJacArgs...> evaluateError(
      const ValueTypes&... x, OptionalJacArgs&&... H) const {
    // If they are pointer version, ensure to cast them all to be Matrix* types
    // This will ensure any arguments inferred as std::nonetype_t are cast to
    // (Matrix*) nullptr This guides the compiler to the correct overload which
    // is the one that takes pointers
    return evaluateError(x..., std::forward<OptionalJacArgs>(H)...,
                         static_cast<OptionalMatrixType>(OptionalNone));
  }

 
 private:
  template <std::size_t... Indices>
  inline Vector unwhitenedError(gtsam::index_sequence<Indices...>,  //
                                const Values& x,
                                OptionalMatrixVecType H = nullptr) const {
    if (this->active(x)) {
      if (H) {
        return evaluateError(x.at<ValueTypes>(keys_[Indices])...,
                             (*H)[Indices]...);
      } else {
        return evaluateError(x.at<ValueTypes>(keys_[Indices])...);
      }
    } else {
      return Vector::Zero(this->dim());
    }
  }
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp(
        "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
  }
#endif
 
 public:
 
  inline Key key1() const { return key<1>(); }
  template <int I = 2>
  inline Key key2() const {
    static_assert(I <= N, "Index out of bounds");
    return key<2>();
  }
  template <int I = 3>
  inline Key key3() const {
    static_assert(I <= N, "Index out of bounds");
    return key<3>();
  }
  template <int I = 4>
  inline Key key4() const {
    static_assert(I <= N, "Index out of bounds");
    return key<4>();
  }
  template <int I = 5>
  inline Key key5() const {
    static_assert(I <= N, "Index out of bounds");
    return key<5>();
  }
  template <int I = 6>
  inline Key key6() const {
    static_assert(I <= N, "Index out of bounds");
    return key<6>();
  }

 
};  // \class NoiseModelFactorT

template <class... ValueTypes>
using NoiseModelFactorN = NoiseModelFactorT<Vector, ValueTypes...>;
 
#define NoiseModelFactor1 NoiseModelFactorN
#define NoiseModelFactor2 NoiseModelFactorN
#define NoiseModelFactor3 NoiseModelFactorN
#define NoiseModelFactor4 NoiseModelFactorN
#define NoiseModelFactor5 NoiseModelFactorN
#define NoiseModelFactor6 NoiseModelFactorN
}  // namespace gtsam