ISAM2Result.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
 
 * -------------------------------------------------------------------------- */

 
// \callgraph
 
#pragma once
 
#include <string>
#include <vector>
 
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <gtsam/nonlinear/ISAM2Params.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
namespace gtsam {

struct ISAM2Result {
  std::optional<double> errorBefore;

  std::optional<double> errorAfter;

  size_t variablesRelinearized;

  size_t variablesReeliminated;

  size_t factorsRecalculated;

  size_t cliques;

  size_t treeNnz;

  bool batchReorderTriggered;

  FactorIndices newFactorsIndices;

  KeySet unusedKeys;

  KeyVector observedKeys;

  KeySet keysWithRemovedFactors;

  KeySet markedKeys;

  struct DetailedResults {
    struct VariableStatus {
      bool isReeliminated;
      bool isAboveRelinThreshold;  
      bool isRelinearizeInvolved;  
      bool isRelinearized;  
      bool isObserved;      
      bool isNew;           
      bool inRootClique;    
      VariableStatus()
          : isReeliminated(false),
            isAboveRelinThreshold(false),
            isRelinearizeInvolved(false),
            isRelinearized(false),
            isObserved(false),
            isNew(false),
            inRootClique(false) {}
    };
 
    using StatusMap = FastMap<Key, VariableStatus>;

    StatusMap variableStatus;
  };

  std::optional<DetailedResults> detail;
 
  explicit ISAM2Result(bool enableDetailedResults = false)
      : variablesRelinearized(0),
        variablesReeliminated(0),
        factorsRecalculated(0),
        cliques(0),
        treeNnz(0),
        batchReorderTriggered(false) {
    if (enableDetailedResults) detail = DetailedResults();
  }

  DetailedResults* details() {
    if (detail.has_value()) {
      return &(*detail);
    } else {
      return nullptr;
    }
  }

  void print(const std::string str = "") const {
    using std::cout;
    cout << str << "  Reelimintated: " << variablesReeliminated
         << "  Relinearized: " << variablesRelinearized
         << "  Cliques: " << cliques
         << "  Nnz: " << treeNnz;
    if (batchReorderTriggered) cout << "  [REORDERED]";
    cout << std::endl;
  }

  size_t getVariablesRelinearized() const { return variablesRelinearized; }
  size_t getVariablesReeliminated() const { return variablesReeliminated; }
  FactorIndices getNewFactorsIndices() const { return newFactorsIndices; }
  size_t getCliques() const { return cliques; }
  size_t getTreeNnz() const { return treeNnz; }
  bool getBatchReorderTriggered() const { return batchReorderTriggered; }
  double getErrorBefore() const { return errorBefore ? *errorBefore : std::nan(""); }
  double getErrorAfter() const { return errorAfter ? *errorAfter : std::nan(""); }
  size_t getFactorsRecalculated() const { return factorsRecalculated; }
  const KeySet& getUnusedKeys() const { return unusedKeys; }
  const KeyVector& getObservedKeys() const { return observedKeys; }
  const KeySet& getKeysWithRemovedFactors() const {
    return keysWithRemovedFactors;
  }
  const KeySet& getMarkedKeys() const { return markedKeys; }
};
 
}  // namespace gtsam