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102 const std::vector<GaussianFactor::shared_ptr> &
factors)
103 :
Base(continuousKeys, {discreteKey}), factors_({discreteKey},
factors) {}
117 const std::vector<GaussianFactorValuePair> &
factors)
119 FactorValuePairs({discreteKey},
factors)) {}
131 HybridGaussianFactor(
const KeyVector &continuousKeys,
132 const DiscreteKeys &discreteKeys,
133 const FactorValuePairs &
factors);
139 bool equals(
const HybridFactor &lf,
double tol = 1
e-9)
const override;
168 AlgebraicDecisionTree<Key> errorTree(
183 sum = factor.
add(sum);
190 double potentiallyPrunedComponentError(
191 const sharedFactor &gf,
const VectorValues &continuousValues)
const;
193 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
195 friend class boost::serialization::access;
196 template <
class ARCHIVE>
197 void serialize(ARCHIVE &ar,
const unsigned int ) {
198 ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
199 ar &BOOST_SERIALIZATION_NVP(factors_);
Linear Factor Graph where all factors are Gaussians.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
HybridGaussianFactor(const KeyVector &continuousKeys, const DiscreteKey &discreteKey, const std::vector< GaussianFactor::shared_ptr > &factors)
Construct a new HybridGaussianFactor on a single discrete key, providing the factors for each mode m ...
const GaussianFactorGraph factors
const Factors & factors() const
Getter for GaussianFactor decision tree.
std::shared_ptr< HybridFactor > shared_ptr
shared_ptr to this class
const KeyFormatter & formatter
GaussianFactorGraphTree add(const GaussianFactorGraphTree &sum) const
Combine the Gaussian Factor Graphs in sum and this while maintaining the original tree structure.
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Algebraic Decision Trees.
void print(const Matrix &A, const string &s, ostream &stream)
std::pair< GaussianFactor::shared_ptr, double > GaussianFactorValuePair
Alias for pair of GaussianFactor::shared_pointer and a double value.
internal::enable_if< internal::valid_indexed_view_overload< RowIndices, ColIndices >::value &&internal::traits< typename EIGEN_INDEXED_VIEW_METHOD_TYPE< RowIndices, ColIndices >::type >::ReturnAsIndexedView, typename EIGEN_INDEXED_VIEW_METHOD_TYPE< RowIndices, ColIndices >::type >::type operator()(const RowIndices &rowIndices, const ColIndices &colIndices) EIGEN_INDEXED_VIEW_METHOD_CONST
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
friend GaussianFactorGraphTree & operator+=(GaussianFactorGraphTree &sum, const HybridGaussianFactor &factor)
Add HybridNonlinearFactor to a Sum, syntactic sugar.
Decision Tree for use in DiscreteFactors.
graph add(PriorFactor< Pose2 >(1, priorMean, priorNoise))
specialized key for discrete variables
a decision tree is a function from assignments to values.
std::shared_ptr< GaussianFactor > sharedFactor
HybridGaussianFactor(const KeyVector &continuousKeys, const DiscreteKey &discreteKey, const std::vector< GaussianFactorValuePair > &factors)
Construct a new HybridGaussianFactor on a single discrete key, including a scalar error value for eac...
std::pair< Key, size_t > DiscreteKey
Implementation of a discrete-conditioned hybrid factor. Implements a joint discrete-continuous factor...
Factors factors_
Decision tree of Gaussian factors indexed by discrete keys.
A factor with a quadratic error function - a Gaussian.
DecisionTree< Key, GaussianFactorGraph > GaussianFactorGraphTree
Alias for DecisionTree of GaussianFactorGraphs.
gtsam
Author(s):
autogenerated on Wed Sep 25 2024 03:02:32