GaussianConditional.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 <boost/utility.hpp>

#include <gtsam/global_includes.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/inference/Conditional.h>
#include <gtsam/linear/VectorValues.h>

namespace gtsam {

  class GTSAM_EXPORT GaussianConditional :
    public JacobianFactor,
    public Conditional<JacobianFactor, GaussianConditional>
  {
  public:
    typedef GaussianConditional This; 
    typedef boost::shared_ptr<This> shared_ptr; 
    typedef JacobianFactor BaseFactor; 
    typedef Conditional<BaseFactor, This> BaseConditional; 

    GaussianConditional() {}

    GaussianConditional(Key key, const Vector& d, const Matrix& R,
      const SharedDiagonal& sigmas = SharedDiagonal());

    GaussianConditional(Key key, const Vector& d, const Matrix& R,
      Key name1, const Matrix& S, const SharedDiagonal& sigmas = SharedDiagonal());

    GaussianConditional(Key key, const Vector& d, const Matrix& R,
      Key name1, const Matrix& S, Key name2, const Matrix& T,
      const SharedDiagonal& sigmas = SharedDiagonal());

    template<typename TERMS>
    GaussianConditional(const TERMS& terms,
      size_t nrFrontals, const Vector& d,
      const SharedDiagonal& sigmas = SharedDiagonal());

    template<typename KEYS>
    GaussianConditional(
      const KEYS& keys, size_t nrFrontals, const VerticalBlockMatrix& augmentedMatrix,
      const SharedDiagonal& sigmas = SharedDiagonal());

    template<typename ITERATOR>
    static shared_ptr Combine(ITERATOR firstConditional, ITERATOR lastConditional);

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

    bool equals(const GaussianFactor&cg, double tol = 1e-9) const;

    constABlock R() const { return Ab_.range(0, nrFrontals()); }

    constABlock S() const { return Ab_.range(nrFrontals(), size()); }

    constABlock S(const_iterator it) const { return BaseFactor::getA(it); }

    const constBVector d() const { return BaseFactor::getb(); }

    VectorValues solve(const VectorValues& parents) const;

    VectorValues solveOtherRHS(const VectorValues& parents, const VectorValues& rhs) const;

    void solveTransposeInPlace(VectorValues& gy) const;

    void scaleFrontalsBySigma(VectorValues& gy) const;
//    __declspec(deprecated) void scaleFrontalsBySigma(VectorValues& gy) const; // FIXME: depreciated flag doesn't appear to exist?

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
    constABlock get_R() const { return R(); }
    constABlock get_S() const { return S(); }
    constABlock get_S(const_iterator it) const { return S(it); }
    const constBVector get_d() const { return d(); }
#endif

   private:
    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
    }
  }; // GaussianConditional

template<>
struct traits<GaussianConditional> : public Testable<GaussianConditional> {};

} // \ namespace gtsam

#include <gtsam/linear/GaussianConditional-inl.h>