GaussianFactor.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 <gtsam/base/Matrix.h>
#include <gtsam/inference/Factor.h>

namespace gtsam {

  // Forward declarations
  class VectorValues;

  class GTSAM_EXPORT GaussianFactor : public Factor
  {
  public:
    typedef GaussianFactor This; 
    typedef boost::shared_ptr<This> shared_ptr; 
    typedef Factor Base; 

    GaussianFactor() {}
    
    template<typename CONTAINER>
    GaussianFactor(const CONTAINER& keys) : Base(keys) {}

    virtual ~GaussianFactor() {}

    // Implementing Testable interface
    virtual void print(const std::string& s = "",
        const KeyFormatter& formatter = DefaultKeyFormatter) const = 0;

    virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0;

    virtual double error(const VectorValues& c) const = 0; 
    virtual DenseIndex getDim(const_iterator variable) const = 0;

    virtual Matrix augmentedJacobian() const = 0;

    virtual std::pair<Matrix,Vector> jacobian() const = 0;

    virtual Matrix augmentedInformation() const = 0;

    virtual Matrix information() const = 0;

    virtual VectorValues hessianDiagonal() const = 0;

    virtual void hessianDiagonal(double* d) const = 0;

    virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;

    virtual GaussianFactor::shared_ptr clone() const = 0;

    virtual bool empty() const = 0;

    virtual GaussianFactor::shared_ptr negate() const = 0;

    virtual void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const = 0;

    virtual void multiplyHessianAdd(double alpha, const double* x, double* y, std::vector<size_t> keys) const = 0;

    virtual void multiplyHessianAdd(double alpha, const double* x, double* y) const = 0;

    virtual VectorValues gradientAtZero() const = 0;

    virtual void gradientAtZero(double* d) const = 0;

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

  }; // GaussianFactor
  
} // namespace gtsam