nonlinear_factor_gpu.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <boost/utility/in_place_factory.hpp>
#include <boost/utility/typed_in_place_factory.hpp>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam_points/util/gtsam_migration.hpp>
 
namespace gtsam_points {
 
class NonlinearFactorGPU : public gtsam::NonlinearFactor {
public:
  using shared_ptr = gtsam_points::shared_ptr<NonlinearFactorGPU>;
 
  template <typename CONTAINER>
  NonlinearFactorGPU(const CONTAINER& keys) : gtsam::NonlinearFactor(keys) {}
  virtual ~NonlinearFactorGPU() {}
 
  virtual size_t linearization_input_size() const = 0;
 
  virtual size_t linearization_output_size() const = 0;
 
  virtual size_t evaluation_input_size() const = 0;
 
  virtual size_t evaluation_output_size() const = 0;
 
  virtual void set_linearization_point(const gtsam::Values& values, void* lin_input_cpu) = 0;
 
  virtual void issue_linearize(const void* lin_input_cpu, const void* lin_input_gpu, void* lin_output_gpu) = 0;
 
  virtual void store_linearized(const void* lin_output_cpu) = 0;
 
  virtual void set_evaluation_point(const gtsam::Values& values, void* eval_input_cpu) = 0;
 
  virtual void issue_compute_error(
    const void* lin_input_cpu,
    const void* eval_input_cpu,
    const void* lin_input_gpu,
    const void* eval_input_gpu,
    void* eval_output_gpu) = 0;
 
  virtual void store_computed_error(const void* eval_output_cpu) = 0;
 
  virtual void sync() = 0;
};
 
}  // namespace gtsam_points