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36 const DiscreteKeys &discreteKeys);
39 const DiscreteKeys &
key2);
54 enum class Category { None, Discrete, Continuous, Hybrid };
69 typedef std::shared_ptr<HybridFactor>
111 const std::string &
s =
"HybridFactor\n",
119 bool isDiscrete()
const {
return category_ == Category::Discrete; }
122 bool isContinuous()
const {
return category_ == Category::Continuous; }
125 bool isHybrid()
const {
return category_ == Category::Hybrid; }
143 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
145 friend class boost::serialization::access;
146 template <
class ARCHIVE>
147 void serialize(ARCHIVE &ar,
const unsigned int ) {
148 ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(
Base);
149 ar &BOOST_SERIALIZATION_NVP(category_);
150 ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
151 ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
const Symbol key1('v', 1)
Linear Factor Graph where all factors are Gaussians.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Concept check for values that can be used in unit tests.
bool isDiscrete() const
True if this is a factor of discrete variables only.
std::shared_ptr< HybridFactor > shared_ptr
shared_ptr to this class
const KeyFormatter & formatter
KeyVector continuousKeys_
Record continuous keys for book-keeping.
DiscreteKeys is a set of keys that can be assembled using the & operator.
bool isHybrid() const
True is this is a Discrete-Continuous factor.
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
The base class for all factors.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
size_t nrContinuous() const
Return the number of continuous variables in this factor.
void print(const Matrix &A, const string &s, ostream &stream)
Category
Enum to help with categorizing hybrid factors.
const Symbol key2('v', 2)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Decision Tree for use in DiscreteFactors.
KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
DiscreteKeys discreteKeys_
bool isContinuous() const
True if this is a factor of continuous variables only.
HybridFactor This
This class.
specialized key for discrete variables
Factor Base
Our base class.
const KeyVector & continuousKeys() const
Return only the continuous keys for this factor.
const DiscreteKeys & discreteKeys() const
Return the discrete keys for this factor.
A non-templated config holding any types of Manifold-group elements.
DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &key2)
gtsam
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autogenerated on Sat Nov 16 2024 04:02:26