47 lines
1.3 KiB
C++
47 lines
1.3 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 LinearInequalityFactorGraph.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/linear/VectorValues.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam_unstable/linear/InequalityFactorGraph.h>
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namespace gtsam {
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/**
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* FactorGraph container for linear inequality factors c(x)<=0 at the nonlinear level
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*/
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class LinearInequalityFactorGraph: public FactorGraph<NonlinearFactor> {
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public:
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/// Default constructor
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LinearInequalityFactorGraph() {}
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/// Linearize to a InequalityFactorGraph
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InequalityFactorGraph::shared_ptr linearize(const Values& linearizationPoint) const;
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/// Return true if the all errors are <= 0.0
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bool checkFeasibilityAndComplimentary(const Values& values,
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const VectorValues& dualValues, double tol) const;
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};
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} // namespace gtsam
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