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HybridNonlinearFactorGraph.h
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#pragma once
#include <gtsam/hybrid/HybridFactorGraph.h>
namespace gtsam {
class HybridGaussianFactorGraph;
class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
protected:
public:
using Base = HybridFactorGraph;
using This = HybridNonlinearFactorGraph;
using shared_ptr = boost::shared_ptr<This>;
using Values = gtsam::Values;
using Indices = KeyVector;
HybridNonlinearFactorGraph() = default;
template <class DERIVEDFACTOR>
HybridNonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
: Base(graph) {}
void print(
const std::string& s = "HybridNonlinearFactorGraph",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
boost::shared_ptr<HybridGaussianFactorGraph> linearize(
const Values& continuousValues) const;
};
template <>
struct traits<HybridNonlinearFactorGraph>
: public Testable<HybridNonlinearFactorGraph> {};
} // namespace gtsam
HybridFactorGraph.h
Factor graph with utilities for hybrid factors.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::KeyVector
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition Key.h:86
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
gtsam::KeyFormatter
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
gtsam::HybridFactorGraph::HybridFactorGraph
HybridFactorGraph()=default
Default constructor.
gtsam::HybridGaussianFactorGraph
Definition HybridGaussianFactorGraph.h:102
gtsam::HybridNonlinearFactorGraph
Definition HybridNonlinearFactorGraph.h:33
gtsam::HybridNonlinearFactorGraph::shared_ptr
boost::shared_ptr< This > shared_ptr
shared_ptr to This
Definition HybridNonlinearFactorGraph.h:38
gtsam::HybridNonlinearFactorGraph::Values
gtsam::Values Values
backwards compatibility
Definition HybridNonlinearFactorGraph.h:40
gtsam::HybridNonlinearFactorGraph::HybridNonlinearFactorGraph
HybridNonlinearFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Implicit copy/downcast constructor to override explicit template container constructor.
Definition HybridNonlinearFactorGraph.h:54
gtsam::HybridNonlinearFactorGraph::This
HybridNonlinearFactorGraph This
this class
Definition HybridNonlinearFactorGraph.h:37
gtsam::FactorGraph
A factor graph is a bipartite graph with factor nodes connected to variable nodes.
Definition FactorGraph.h:97
gtsam::Values
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65