Go to the documentation of this file.
36 class HybridGaussianFactorGraph;
37 class HybridConditional;
39 class HybridEliminationTree;
40 class HybridBayesTree;
41 class HybridJunctionTree;
42 class DecisionTreeFactor;
56 std::pair<std::shared_ptr<HybridConditional>, std::shared_ptr<Factor>>
65 GTSAM_EXPORT
const Ordering
83 static std::pair<std::shared_ptr<ConditionalType>,
85 std::shared_ptr<FactorType>>
92 std::optional<std::reference_wrapper<const VariableIndex>>) {
109 template <
typename FACTOR>
134 template <
class DERIVEDFACTOR>
149 const std::string&
str =
"HybridGaussianFactorGraph: ",
151 const std::function<
bool(
const Factor* ,
154 [](
const Factor*,
double,
size_t) {
return true; })
const;
174 AlgebraicDecisionTree<Key> errorTree(
185 AlgebraicDecisionTree<Key> probPrime(
HybridBayesTree BayesTreeType
Type of Bayes tree.
const GaussianFactorGraph factors
HybridEliminationTree EliminationTreeType
Type of elimination tree.
Variable ordering for the elimination algorithm.
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
static std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< FactorType > > DefaultEliminate(const FactorGraphType &factors, const Ordering &keys)
The default dense elimination function.
HybridGaussianFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Factor FactorType
Type of factors in factor graph.
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
HybridJunctionTree JunctionTreeType
typename std::enable_if< std::is_base_of< GaussianFactor, FACTOR >::value >::type IsGaussian
Check if FACTOR type is derived from GaussianFactor.
std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > > EliminateHybrid(const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
Main elimination function for HybridGaussianFactorGraph.
Variable elimination algorithms for factor graphs.
Factor graph with utilities for hybrid factors.
HybridConditional ConditionalType
Type of conditionals from elimination.
std::vector< float > Values
std::shared_ptr< This > shared_ptr
shared_ptr to This
const Ordering HybridOrdering(const HybridGaussianFactorGraph &graph)
Return a Colamd constrained ordering where the discrete keys are eliminated after the continuous keys...
HybridGaussianFactorGraph FactorGraphType
static Ordering DefaultOrderingFunc(const FactorGraphType &graph, std::optional< std::reference_wrapper< const VariableIndex >>)
The default ordering generation function.
A factor with a quadratic error function - a Gaussian.
NonlinearFactorGraph graph
HybridBayesNet BayesNetType
Type of Bayes net from sequential elimination.
DecisionTree< Key, GaussianFactorGraph > GaussianFactorGraphTree
Alias for DecisionTree of GaussianFactorGraphs.
A set of GaussianFactors, indexed by a set of discrete keys.
gtsam
Author(s):
autogenerated on Tue Jun 25 2024 03:01:00