Program Listing for File marginal_constraint.hpp

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#ifndef FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_
#define FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_

#include <ceres/cost_function.h>

#include <algorithm>
#include <cassert>
#include <functional>
#include <iterator>
#include <ostream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>

#include <fuse_core/ceres_macros.hpp>
#include <fuse_core/constraint.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>
#include <fuse_core/manifold.hpp>
#include <fuse_core/manifold_adapter.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/variable.hpp>

#include <boost/iterator/transform_iterator.hpp>
#include <boost/iterator/zip_iterator.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/tuple/tuple.hpp>


namespace fuse_constraints
{

class MarginalConstraint : public fuse_core::Constraint
{
public:
  FUSE_CONSTRAINT_DEFINITIONS(MarginalConstraint)


  MarginalConstraint() = default;

  template<typename VariableIterator, typename MatrixIterator>
  MarginalConstraint(
    const std::string & source,
    VariableIterator first_variable,
    VariableIterator last_variable,
    MatrixIterator first_A,
    MatrixIterator last_A,
    const fuse_core::VectorXd & b);

  virtual ~MarginalConstraint() = default;

  const std::vector<fuse_core::MatrixXd> & A() const {return A_;}

  const fuse_core::VectorXd & b() const {return b_;}

  const std::vector<fuse_core::VectorXd> & x_bar() const {return x_bar_;}

#if !CERES_SUPPORTS_MANIFOLDS
  const std::vector<fuse_core::LocalParameterization::SharedPtr> & localParameterizations() const
  {
    return local_parameterizations_;
  }
#else
  const std::vector<fuse_core::Manifold::SharedPtr> & manifolds() const {return manifolds_;}
#endif

  void print(std::ostream & stream = std::cout) const override;

  ceres::CostFunction * costFunction() const override;

protected:
  std::vector<fuse_core::MatrixXd> A_;
  fuse_core::VectorXd b_;
#if !CERES_SUPPORTS_MANIFOLDS
  std::vector<fuse_core::LocalParameterization::SharedPtr> local_parameterizations_;
#else
  std::vector<fuse_core::Manifold::SharedPtr> manifolds_;
#endif
  std::vector<fuse_core::VectorXd> x_bar_;

private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void save(Archive & archive, const unsigned int /* version */) const
  {
    archive << boost::serialization::base_object<fuse_core::Constraint>(*this);
    archive << A_;
    archive << b_;
#if !CERES_SUPPORTS_MANIFOLDS
    archive << local_parameterizations_;
#else
    archive << manifolds_;
#endif
    archive << x_bar_;
  }

  template<class Archive>
  void load(Archive & archive, const unsigned int version)
  {
    archive >> boost::serialization::base_object<fuse_core::Constraint>(*this);
    archive >> A_;
    archive >> b_;
    if (version == 0) {
      // Version 0 serialization files will contain a std::vector of LocalParameterization
      // shared pointers. If the current version of Ceres Solver does not support Manifolds,
      // then the serialized LocalParameterization pointers can be deserialized directly into
      // the class member. But if the current version of Ceres Solver supports manifolds, then
      // the serialized LocalParameterization pointers must be wrapped in a Manifold adapter first.
#if !CERES_SUPPORTS_MANIFOLDS
      archive >> local_parameterizations_;
#else
      auto local_parameterizations = std::vector<fuse_core::LocalParameterization::SharedPtr>();
      archive >> local_parameterizations;
      std::transform(
        std::make_move_iterator(local_parameterizations.begin()),
        std::make_move_iterator(local_parameterizations.end()),
        std::back_inserter(manifolds_),
        [](fuse_core::LocalParameterization::SharedPtr local_parameterization)
        {return fuse_core::ManifoldAdapter::make_shared(std::move(local_parameterization));});
#endif
    } else {  // (version >= 1)
      // Version 1 serialization files will contain a std::vector of Manifold shared pointers. If
      // the current version of Ceres Solver does not support Manifolds, then there is no way to
      // deserialize the requested data. But if the current version of Ceres Solver does support
      // manifolds, then the serialized Manifold pointers can be deserialized directly into the
      // class member.
#if !CERES_SUPPORTS_MANIFOLDS
      throw std::runtime_error(
              "Attempting to deserialize an archive saved in Version " +
              std::to_string(
                version) + " format. However, the current version of Ceres Solver (" +
              CERES_VERSION_STRING + ") does not support manifolds. Ceres Solver version 2.1.0 "
              "or later is required to load this file.");
#else
      archive >> manifolds_;
#endif
    }
    archive >> x_bar_;
  }
  BOOST_SERIALIZATION_SPLIT_MEMBER()
};

namespace detail
{

inline const fuse_core::UUID getUuid(const fuse_core::Variable & variable)
{
  return variable.uuid();
}

inline const fuse_core::VectorXd getCurrentValue(const fuse_core::Variable & variable)
{
  return Eigen::Map<const fuse_core::VectorXd>(variable.data(), variable.size());
}

#if !CERES_SUPPORTS_MANIFOLDS
inline fuse_core::LocalParameterization::SharedPtr getLocalParameterization(
  const fuse_core::Variable & variable)
{
  return fuse_core::LocalParameterization::SharedPtr(variable.localParameterization());
}
#else
inline fuse_core::Manifold::SharedPtr getManifold(const fuse_core::Variable & variable)
{
  return fuse_core::Manifold::SharedPtr(variable.manifold());
}
#endif

}  // namespace detail

template<typename VariableIterator, typename MatrixIterator>
MarginalConstraint::MarginalConstraint(
  const std::string & source,
  VariableIterator first_variable,
  VariableIterator last_variable,
  MatrixIterator first_A,
  MatrixIterator last_A,
  const fuse_core::VectorXd & b)
: Constraint(source,
    boost::make_transform_iterator(first_variable, &fuse_constraints::detail::getUuid),
    boost::make_transform_iterator(last_variable, &fuse_constraints::detail::getUuid)),
  A_(first_A, last_A),
  b_(b),
#if !CERES_SUPPORTS_MANIFOLDS
  local_parameterizations_(boost::make_transform_iterator(first_variable,
    &fuse_constraints::detail::getLocalParameterization),
    boost::make_transform_iterator(last_variable,
    &fuse_constraints::detail::getLocalParameterization)),
#else
  manifolds_(
    boost::make_transform_iterator(first_variable, &fuse_constraints::detail::getManifold),
    boost::make_transform_iterator(last_variable, &fuse_constraints::detail::getManifold)),
#endif
  x_bar_(boost::make_transform_iterator(first_variable, &fuse_constraints::detail::getCurrentValue),
    boost::make_transform_iterator(last_variable, &fuse_constraints::detail::getCurrentValue))
{
  assert(!A_.empty());
  assert(A_.size() == x_bar_.size());
#if !CERES_SUPPORTS_MANIFOLDS
  assert(A_.size() == local_parameterizations_.size());
#else
  assert(A_.size() == manifolds_.size());
#endif
  assert(b_.rows() > 0);
  assert(
    std::all_of(
      A_.begin(), A_.end(), [this](const auto & A) {
        return A.rows() == this->b_.rows();
      }));  // NOLINT
  assert(
    std::all_of(
      boost::make_zip_iterator(boost::make_tuple(A_.begin(), first_variable)),
      boost::make_zip_iterator(boost::make_tuple(A_.end(), last_variable)),
      [](const boost::tuple<const fuse_core::MatrixXd &, const fuse_core::Variable &> & tuple)  // NOLINT
      {
        return static_cast<size_t>(tuple.get<0>().cols()) == tuple.get<1>().localSize();
      }));  // NOLINT
}

}  // namespace fuse_constraints

BOOST_CLASS_EXPORT_KEY(fuse_constraints::MarginalConstraint);
// Since the contents of the serialized file will change depending on the CeresSolver version,
// also set the Boost Serialization version to allow code reading serialized file to know what
// data to expect.
#if !CERES_SUPPORTS_MANIFOLDS
BOOST_CLASS_VERSION(fuse_constraints::MarginalConstraint, 0);
#else
BOOST_CLASS_VERSION(fuse_constraints::MarginalConstraint, 1);
#endif

#endif  // FUSE_CONSTRAINTS__MARGINAL_CONSTRAINT_HPP_