71 lines
1.7 KiB
C
71 lines
1.7 KiB
C
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/**
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* @file Factor.h
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* @brief A simple factor class to use in a factor graph
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* @brief factor
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* @author Kai Ni
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*/
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// \callgraph
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#pragma once
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#include <set>
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#include "FGConfig.h"
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namespace gtsam {
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struct Variable {
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private:
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std::string key_;
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std::size_t dim_;
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public:
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Variable(const std::string& key, std::size_t dim) : key_(key), dim_(dim) {}
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bool operator< (const Variable& other) const {return key_<other.key_; }
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const std::string& key() const { return key_;}
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std::size_t dim() const { return dim_;}
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};
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class VariableSet : public std::set<Variable> {
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};
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/**
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* A simple factor class to use in a factor graph.
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*
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* We make it noncopyable so we enforce the fact that factors are
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* kept in pointer containers. To be safe, you should make them
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* immutable, i.e., practicing functional programming. However, this
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* conflicts with efficiency as well, esp. in the case of incomplete
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* QR factorization. A solution is still being sought.
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*/
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class Factor : boost::noncopyable
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{
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public:
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virtual ~Factor() {};
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/**
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* negative log probability
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*/
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virtual double error(const FGConfig& c) const = 0;
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/**
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* print
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* @param s optional string naming the factor
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*/
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virtual void print(const std::string& s="") const = 0;
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/**
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* equality up to tolerance
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* tricky to implement, see NonLinearFactor1 for an example
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*/
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virtual bool equals(const Factor& f, double tol=1e-9) const = 0;
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virtual std::string dump() const = 0;
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/**
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* @return the number of nodes the factor connects
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*/
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virtual std::size_t size() const = 0;
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};
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}
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