HybridSmoother.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 
#include <optional>
 
namespace gtsam {
 
class GTSAM_EXPORT HybridSmoother {
 private:
  HybridBayesNet hybridBayesNet_;
  HybridGaussianFactorGraph remainingFactorGraph_;
 
 public:
  void update(HybridGaussianFactorGraph graph,
              std::optional<size_t> maxNrLeaves = {},
              const std::optional<Ordering> given_ordering = {});
 
  Ordering getOrdering(const HybridGaussianFactorGraph& newFactors);
 
  std::pair<HybridGaussianFactorGraph, HybridBayesNet> addConditionals(
      const HybridGaussianFactorGraph& graph,
      const HybridBayesNet& hybridBayesNet, const Ordering& ordering) const;
 
  GaussianMixture::shared_ptr gaussianMixture(size_t index) const;
 
  const HybridBayesNet& hybridBayesNet() const;
};
 
}  // namespace gtsam