57 lines
1.5 KiB
C++
57 lines
1.5 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 EqualityFactorGraph.h
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* @brief Factor graph of all LinearEquality factors
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* @date Dec 8, 2014
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* @author Duy-Nguyen Ta
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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_unstable/linear/LinearEquality.h>
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namespace gtsam {
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/**
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* Collection of all Linear Equality constraints Ax=b of
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* a Programming problem as a Factor Graph
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*/
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class EqualityFactorGraph: public FactorGraph<LinearEquality> {
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public:
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typedef boost::shared_ptr<EqualityFactorGraph> shared_ptr;
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/// Add a linear inequality, forwards arguments to LinearInequality.
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template <class... Args> void add(Args &&... args) {
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emplace_shared<LinearEquality>(std::forward<Args>(args)...);
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}
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/// Compute error of a guess.
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double error(const VectorValues& x) const {
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double total_error = 0.;
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for (const sharedFactor& factor : *this) {
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if (factor)
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total_error += factor->error(x);
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}
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return total_error;
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}
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};
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/// traits
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template<> struct traits<EqualityFactorGraph> : public Testable<
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EqualityFactorGraph> {
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};
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} // \ namespace gtsam
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