AntiFactor.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 <ostream>

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>

namespace gtsam {

  class AntiFactor: public NonlinearFactor {

  private:

    typedef AntiFactor This;
    typedef NonlinearFactor Base;
    typedef NonlinearFactor::shared_ptr sharedFactor;

    sharedFactor factor_;

  public:

    // shorthand for a smart pointer to a factor
    typedef boost::shared_ptr<AntiFactor> shared_ptr;

    AntiFactor() {}

    AntiFactor(NonlinearFactor::shared_ptr factor) : Base(factor->keys()), factor_(factor) {}

    virtual ~AntiFactor() {}

    virtual gtsam::NonlinearFactor::shared_ptr clone() const {
      return boost::static_pointer_cast<gtsam::NonlinearFactor>(
          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }

    virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
      std::cout << s << "AntiFactor version of:" << std::endl;
      factor_->print(s, keyFormatter);
    }

    virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
      const This *e =  dynamic_cast<const This*> (&expected);
      return e != NULL && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol);
    }

    double error(const Values& c) const { return -factor_->error(c); }

    size_t dim() const { return factor_->dim(); }

    bool active(const Values& c) const { return factor_->active(c); }

    boost::shared_ptr<GaussianFactor> linearize(const Values& c) const {

      // Generate the linearized factor from the contained nonlinear factor
      GaussianFactor::shared_ptr gaussianFactor = factor_->linearize(c);

      // return the negated version of the factor
      return gaussianFactor->negate();
    }


  private:

    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & boost::serialization::make_nvp("AntiFactor",
          boost::serialization::base_object<Base>(*this));
      ar & BOOST_SERIALIZATION_NVP(factor_);
    }
  }; // \class AntiFactor

}