HybridFactorGraph.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
20 #pragma once
21 
24 
25 #include <unordered_map>
26 
27 namespace gtsam {
28 
29 class DiscreteFactor;
30 class Ordering;
31 
32 using SharedFactor = std::shared_ptr<Factor>;
33 
38 class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
39  public:
42  using shared_ptr = std::shared_ptr<This>;
43 
45  using Indices = KeyVector;
46 
47  public:
50 
52  HybridFactorGraph() = default;
53 
59  template <class DERIVEDFACTOR>
61 
63  template <class CONTAINER>
64  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
65 
69 
71  std::set<DiscreteKey> discreteKeys() const;
72 
74  KeySet discreteKeySet() const;
75 
77  const KeySet continuousKeySet() const;
78 
80 };
81 
82 } // namespace gtsam
gtsam::HybridFactorGraph
Definition: HybridFactorGraph.h:38
gtsam::HybridFactorGraph::HybridFactorGraph
HybridFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Definition: HybridFactorGraph.h:60
simple_graph::factors
const GaussianFactorGraph factors
Definition: testJacobianFactor.cpp:213
gtsam::FastSet
Definition: FastSet.h:51
gtsam::KeyVector
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:92
DiscreteFactor
Discrete values for.
gtsam::FactorGraph
Definition: BayesTree.h:34
HybridFactor.h
gtsam::HybridFactorGraph::HybridFactorGraph
HybridFactorGraph(const CONTAINER &factors)
Definition: HybridFactorGraph.h:64
Values
std::vector< float > Values
Definition: sparse_setter.cpp:45
gtsam
traits
Definition: SFMdata.h:40
FactorGraph.h
Factor Graph Base Class.
gtsam::Values
Definition: Values.h:65
gtsam::HybridFactorGraph::shared_ptr
std::shared_ptr< This > shared_ptr
shared_ptr to This
Definition: HybridFactorGraph.h:42
graph
NonlinearFactorGraph graph
Definition: doc/Code/OdometryExample.cpp:2
gtsam::SharedFactor
std::shared_ptr< Factor > SharedFactor
Definition: HybridFactorGraph.h:32
gtsam::HybridFactorGraph::Indices
KeyVector Indices
Definition: HybridFactorGraph.h:45


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autogenerated on Fri Nov 1 2024 03:32:43