state.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef STATE_HPP
#define STATE_HPP
 
#include <map>
#include <variant>
 
#include "msceqf/system/system.hpp"
#include "msceqf/options/msceqf_options.hpp"
#include "msceqf/state/state_elements.hpp"
 
namespace msceqf
{
class MSCEqFState
{
 public:
  using MSCEqFStateKey = std::variant<MSCEqFStateElementName, uint>;  
  using MSCEqFKey = std::variant<MSCEqFStateKey, fp>;                 
 
  using MSCEqFStateMap = std::unordered_map<MSCEqFStateKey, MSCEqFStateElementSharedPtr>;  
  using MSCEqFClonesMap = std::map<fp, MSCEqFStateElementSharedPtr>;                       
 
  MSCEqFState() = delete;
 
  MSCEqFState(const StateOptions& opts, const SystemState& xi0);
 
  MSCEqFState(const MSCEqFState& other);
  MSCEqFState(MSCEqFState&& other) noexcept;
  MSCEqFState& operator=(const MSCEqFState& other);
  MSCEqFState& operator=(MSCEqFState&& other) noexcept;
  ~MSCEqFState();
 
  [[nodiscard]] const SE23& D() const;
 
  [[nodiscard]] const SE3 B() const;
 
  [[nodiscard]] const SE3 C() const;
 
  [[nodiscard]] const Vector6& delta() const;
 
  [[nodiscard]] const SE3& E() const;
 
  [[nodiscard]] const In& L() const;
 
  [[nodiscard]] const SOT3& Q(const uint& feat_id) const;
 
  [[nodiscard]] const SE3& clone(const fp& timestamp) const;
 
  [[nodiscard]] const uint& index(const MSCEqFKey& key) const;
 
  [[nodiscard]] const uint& dof(const MSCEqFKey& key) const;
 
  [[nodiscard]] inline size_t clonesSize() const { return clones_.size(); }
 
  [[nodiscard]] const fp& cloneTimestampToMarginalize() const;
 
  [[nodiscard]] const MatrixX& cov() const;
 
  [[nodiscard]] const MatrixX covBlock(const MSCEqFKey& key) const;
 
  [[nodiscard]] const MatrixX subCov(const std::vector<MSCEqFKey>& keys) const;
 
  [[nodiscard]] const MatrixX subCovCols(const std::vector<MSCEqFKey>& keys) const;
 
  [[nodiscard]] inline const StateOptions& opts() const { return opts_; }
 
  void initializeStateElement(const MSCEqFStateKey& key, const MatrixX& cov_block);
 
  void stochasticCloning(const fp& timestamp);
 
  void marginalizeCloneAt(const fp& timestamp);
 
  static std::string toString(const MSCEqFStateKey& key);
 
  [[nodiscard]] const MSCEqFState Random() const;
 
  [[nodiscard]] const MSCEqFState operator*(const MSCEqFState& other) const;
 
 private:
  void preallocate();
 
  [[nodiscard]] bool insertStateElement(const MSCEqFStateKey& key, MSCEqFStateElementUniquePtr ptr);
 
  [[nodiscard]] bool insertCloneElement(const fp& timestamp, MSCEqFStateElementUniquePtr ptr);
 
  [[nodiscard]] const MSCEqFStateElementSharedPtr& getPtr(const MSCEqFKey& key) const;
 
  friend class Symmetry;             
  friend class Propagator;           
  friend class Updater;              
  friend class ZeroVelocityUpdater;  
 
  StateOptions opts_;  
 
  MatrixX cov_;             
  MSCEqFStateMap state_;    
  MSCEqFClonesMap clones_;  
};
 
}  // namespace msceqf
 
#endif  // STATE_HPP