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27 std::set<DiscreteKey>
keys;
29 if (
auto p = std::dynamic_pointer_cast<DiscreteFactor>(factor)) {
33 }
else if (
auto p = std::dynamic_pointer_cast<HybridFactor>(factor)) {
56 if (
auto p = std::dynamic_pointer_cast<HybridFactor>(factor)) {
57 for (
const Key&
key :
p->continuousKeys()) {
60 }
else if (
auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
61 keys.insert(
p->keys().begin(),
p->keys().end());
62 }
else if (
auto p = std::dynamic_pointer_cast<NonlinearFactor>(factor)) {
63 keys.insert(
p->keys().begin(),
p->keys().end());
std::set< DiscreteKey > discreteKeys() const
Get all the discrete keys in the factor graph.
FastVector< sharedFactor > factors_
const KeySet continuousKeySet() const
Get all the continuous keys in the factor graph.
KeySet discreteKeySet() const
Get all the discrete keys in the factor graph, as a set of Keys.
EIGEN_DONT_INLINE void transform(const Transformation &t, Data &data)
const gtsam::Symbol key('X', 0)
Non-linear factor base classes.
Factor graph with utilities for hybrid factors.
std::pair< Key, size_t > DiscreteKey
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:26