70 lines
2.4 KiB
C++
70 lines
2.4 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.cpp
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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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#include <gtsam_unstable/nonlinear/LinearInequalityFactorGraph.h>
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#include <gtsam_unstable/nonlinear/ConstrainedFactor.h>
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namespace gtsam {
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/* ************************************************************************* */
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InequalityFactorGraph::shared_ptr LinearInequalityFactorGraph::linearize(
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const Values& linearizationPoint) const {
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InequalityFactorGraph::shared_ptr linearGraph(new InequalityFactorGraph());
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for(const NonlinearFactor::shared_ptr& factor: *this) {
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JacobianFactor::shared_ptr jacobian = boost::dynamic_pointer_cast<JacobianFactor>(
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factor->linearize(linearizationPoint));
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ConstrainedFactor::shared_ptr constraint
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= boost::dynamic_pointer_cast<ConstrainedFactor>(factor);
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linearGraph->add(LinearInequality(*jacobian, constraint->dualKey()));
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}
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return linearGraph;
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}
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/* ************************************************************************* */
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bool LinearInequalityFactorGraph::checkFeasibilityAndComplimentary(
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const Values& values, const VectorValues& dualValues, double tol) const {
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for(const NonlinearFactor::shared_ptr& factor: *this) {
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NoiseModelFactor::shared_ptr noiseModelFactor
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= boost::dynamic_pointer_cast<NoiseModelFactor>(factor);
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Vector error = noiseModelFactor->unwhitenedError(values);
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// Primal feasibility condition: all constraints need to be <= 0.0
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if (error[0] > tol)
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return false;
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// Complimentary condition: errors of active constraints need to be 0.0
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ConstrainedFactor::shared_ptr constraint
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= boost::dynamic_pointer_cast<ConstrainedFactor>(factor);
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Key dualKey = constraint->dualKey();
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// if dualKey doesn't exist in dualValues, it must be an inactive constraint!
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if (!dualValues.exists(dualKey))
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continue;
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// for active constraint, the error should be 0.0
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if (fabs(error[0]) > tol)
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return false;
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}
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return true;
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}
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}
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