LPInitSolver.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 <gtsam_unstable/linear/LP.h>
#include <gtsam/linear/GaussianFactorGraph.h>
 
namespace gtsam {
class LPInitSolver {
private:
  const LP& lp_;
 
public:
  LPInitSolver(const LP& lp) : lp_(lp) {}

  VectorValues solve() const;
 
private:
  LP::shared_ptr buildInitialLP(Key yKey) const;

  GaussianFactorGraph::shared_ptr buildInitOfInitGraph() const;

  double compute_y0(const VectorValues& x0) const;

  std::vector<std::pair<Key, Matrix>> collectTerms(
      const LinearInequality& factor) const;

  InequalityFactorGraph addSlackVariableToInequalities(Key yKey,
      const InequalityFactorGraph& inequalities) const;
 
  // friend class for unit-testing private methods
  friend class LPInitSolverInitializationTest;
};
 
}