GaussianConditional.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * 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 override;
 
    bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;
 
    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;
 
    // FIXME: deprecated flag doesn't appear to exist?
    // __declspec(deprecated) void scaleFrontalsBySigma(VectorValues& gy) const; 
 
   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>