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HybridSmoother.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
* -------------------------------------------------------------------------- */
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
namespace gtsam {
class HybridSmoother {
private:
HybridBayesNet hybridBayesNet_;
HybridGaussianFactorGraph remainingFactorGraph_;
public:
void update(HybridGaussianFactorGraph graph, const Ordering& ordering,
boost::optional<size_t> maxNrLeaves = boost::none);
Ordering getOrdering(const HybridGaussianFactorGraph& newFactors);
std::pair<HybridGaussianFactorGraph, HybridBayesNet> addConditionals(
const HybridGaussianFactorGraph& graph,
const HybridBayesNet& hybridBayesNet, const Ordering& ordering) const;
GaussianMixture::shared_ptr gaussianMixture(size_t index) const;
const HybridBayesNet& hybridBayesNet() const;
};
}; // namespace gtsam
DiscreteFactorGraph.h
HybridBayesNet.h
A Bayes net of Gaussian Conditionals indexed by discrete keys.
HybridGaussianFactorGraph.h
Linearized Hybrid factor graph that uses type erasure.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::HybridBayesNet
A hybrid Bayes net is a collection of HybridConditionals, which can have discrete conditionals,...
Definition HybridBayesNet.h:35
gtsam::HybridGaussianFactorGraph
Definition HybridGaussianFactorGraph.h:102
gtsam::HybridSmoother
Definition HybridSmoother.h:25
gtsam::HybridSmoother::gaussianMixture
GaussianMixture::shared_ptr gaussianMixture(size_t index) const
Get the Gaussian Mixture from the Bayes Net posterior at index.
Definition HybridSmoother.cpp:131
gtsam::HybridSmoother::update
void update(HybridGaussianFactorGraph graph, const Ordering &ordering, boost::optional< size_t > maxNrLeaves=boost::none)
Given new factors, perform an incremental update.
Definition HybridSmoother.cpp:58
gtsam::HybridSmoother::addConditionals
std::pair< HybridGaussianFactorGraph, HybridBayesNet > addConditionals(const HybridGaussianFactorGraph &graph, const HybridBayesNet &hybridBayesNet, const Ordering &ordering) const
Add conditionals from previous timestep as part of liquefication.
Definition HybridSmoother.cpp:85
gtsam::HybridSmoother::hybridBayesNet
const HybridBayesNet & hybridBayesNet() const
Return the Bayes Net posterior.
Definition HybridSmoother.cpp:137
gtsam::Ordering
Definition Ordering.h:34