46 lines
1.2 KiB
C++
46 lines
1.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file LinearEqualityFactorGraph.h
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* @author Duy-Nguyen Ta
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* @author Krunal Chande
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* @author Luca Carlone
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* @date Dec 15, 2014
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*/
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#pragma once
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam_unstable/linear/EqualityFactorGraph.h>
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namespace gtsam {
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/**
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* FactorGraph container for linear equality factors c(x)==0 at the nonlinear level
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*/
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class LinearEqualityFactorGraph: public FactorGraph<NonlinearFactor> {
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public:
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/// Default constructor
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LinearEqualityFactorGraph() {
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}
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/// Linearize to a EqualityFactorGraph
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EqualityFactorGraph::shared_ptr linearize(const Values& linearizationPoint) const;
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/// Return true if the max absolute error all factors is less than a tolerance
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bool checkFeasibility(const Values& values, double tol) const;
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};
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}
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