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27 using namespace gtsam;
55 std::vector<GaussianFactor::shared_ptr>
components{
56 std::make_shared<JacobianFactor>(
X(1), I_3x3,
Z_3x1),
57 std::make_shared<JacobianFactor>(
X(1), I_3x3, Vector3::Ones())};
60 KeySet expected_continuous{
X(0),
X(1)};
static int runAllTests(TestResult &result)
#define EXPECT(condition)
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
const KeySet continuousKeySet() const
Get all the continuous keys in the factor graph.
Provides additional testing facilities for common data structures.
TEST(HybridFactorGraph, Constructor)
KeySet discreteKeySet() const
Get all the discrete keys in the factor graph, as a set of Keys.
Factor graph with utilities for hybrid factors.
Linearized Hybrid factor graph that uses type erasure.
std::pair< Key, size_t > DiscreteKey
bool assert_container_equality(const std::map< size_t, V2 > &expected, const std::map< size_t, V2 > &actual)
Implementation of a discrete-conditioned hybrid factor. Implements a joint discrete-continuous factor...
std::vector< NoiseModelFactor::shared_ptr > components
IsDerived< DERIVEDFACTOR > add(std::shared_ptr< DERIVEDFACTOR > factor)
add is a synonym for push_back.
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:07:38