gtsam::HybridGaussianConditional::Helper Struct Reference

Helper struct for constructing HybridGaussianConditional objects. More...

Public Types
using	GC = GaussianConditional
using	P = std::vector< std::pair< Vector, double > >

Public Member Functions
	Helper (const Conditionals &conditionals)
	Construct from tree of GaussianConditionals. More...
template<typename... Args>
	Helper (const DiscreteKey &mode, const P &p, Args &&...args)
	Construct from a vector of mean and sigma pairs, plus extra args. More...
	Helper (const FactorValuePairs &pairs)
	Construct from tree of factor/scalar pairs. More...

Public Attributes
double	minNegLogConstant = std::numeric_limits<double>::infinity()
std::optional< size_t >	nrFrontals = {}
FactorValuePairs	pairs

Detailed Description

Helper struct for constructing HybridGaussianConditional objects.

This struct contains the following fields:

• nrFrontals: Optional size_t for number of frontal variables
• pairs: FactorValuePairs for storing conditionals with their negLogConstant
• minNegLogConstant: minimum negLogConstant, computed here, subtracted in constructor

Definition at line 59 of file HybridGaussianConditional.cpp.

Member Typedef Documentation

GC

using gtsam::HybridGaussianConditional::Helper::GC = GaussianConditional

Definition at line 64 of file HybridGaussianConditional.cpp.

P

using gtsam::HybridGaussianConditional::Helper::P = std::vector<std::pair<Vector, double> >

Definition at line 65 of file HybridGaussianConditional.cpp.

Constructor & Destructor Documentation

Helper() [1/3]

template<typename... Args>

gtsam::HybridGaussianConditional::Helper::Helper ( const DiscreteKey &  mode, const P &  p, Args &&...  args  )

inlineexplicit

Construct from a vector of mean and sigma pairs, plus extra args.

Definition at line 69 of file HybridGaussianConditional.cpp.

Helper() [2/3]

gtsam::HybridGaussianConditional::Helper::Helper ( const Conditionals &  conditionals )

inlineexplicit

Construct from tree of GaussianConditionals.

Definition at line 88 of file HybridGaussianConditional.cpp.

Helper() [3/3]

gtsam::HybridGaussianConditional::Helper::Helper ( const FactorValuePairs &  pairs )

inlineexplicit

Construct from tree of factor/scalar pairs.

Definition at line 105 of file HybridGaussianConditional.cpp.

Member Data Documentation

minNegLogConstant

double gtsam::HybridGaussianConditional::Helper::minNegLogConstant = std::numeric_limits<double>::infinity()

Definition at line 62 of file HybridGaussianConditional.cpp.

nrFrontals

std::optional<size_t> gtsam::HybridGaussianConditional::Helper::nrFrontals = {}

Definition at line 61 of file HybridGaussianConditional.cpp.

pairs

FactorValuePairs gtsam::HybridGaussianConditional::Helper::pairs

Definition at line 60 of file HybridGaussianConditional.cpp.

---

The documentation for this struct was generated from the following file:

• HybridGaussianConditional.cpp