Factor.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/serialization/nvp.hpp>

#include <gtsam/base/types.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Key.h>

namespace gtsam {

  class GTSAM_EXPORT Factor
  {

  private:
    // These typedefs are private because they must be overridden in derived classes.
    typedef Factor This; 
    typedef boost::shared_ptr<Factor> shared_ptr; 

  public:
    typedef FastVector<Key>::iterator iterator;

    typedef FastVector<Key>::const_iterator const_iterator;

  protected:

    FastVector<Key> keys_;


    Factor() {}

    template<typename CONTAINER>
    explicit Factor(const CONTAINER& keys) : keys_(keys.begin(), keys.end()) {}

    template<typename ITERATOR>
    Factor(ITERATOR first, ITERATOR last) : keys_(first, last) {}

    template<typename CONTAINER>
    static Factor FromKeys(const CONTAINER& keys) {
      return Factor(keys.begin(), keys.end()); }

    template<typename ITERATOR>
    static Factor FromIterators(ITERATOR first, ITERATOR last) {
      return Factor(first, last); }


  public:

    Key front() const { return keys_.front(); }

    Key back() const { return keys_.back(); }

    const_iterator find(Key key) const { return std::find(begin(), end(), key); }

    const FastVector<Key>& keys() const { return keys_; }

    const_iterator begin() const { return keys_.begin(); }

    const_iterator end() const { return keys_.end(); }

    size_t size() const { return keys_.size(); }




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

    void printKeys(const std::string& s = "Factor", const KeyFormatter& formatter = DefaultKeyFormatter) const;

  protected:
    bool equals(const This& other, double tol = 1e-9) const;


  public:

    FastVector<Key>& keys() { return keys_; }

    iterator begin() { return keys_.begin(); }

    iterator end() { return keys_.end(); }

  private:
    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int version) {
      ar & BOOST_SERIALIZATION_NVP(keys_);
    }


  };

}