gtsam 4.2.0
gtsam
HybridNonlinearFactorGraph.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
19#pragma once
20
22
23namespace gtsam {
24
25class HybridGaussianFactorGraph;
26
33class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
34 protected:
35 public:
36 using Base = HybridFactorGraph;
38 using shared_ptr = boost::shared_ptr<This>;
39
41 using Indices = KeyVector;
42
45
47
53 template <class DERIVEDFACTOR>
55 : Base(graph) {}
56
60
62 void print(
63 const std::string& s = "HybridNonlinearFactorGraph",
64 const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
65
69
77 boost::shared_ptr<HybridGaussianFactorGraph> linearize(
78 const Values& continuousValues) const;
80};
81
82template <>
84 : public Testable<HybridNonlinearFactorGraph> {};
85
86} // namespace gtsam
Factor graph with utilities for hybrid factors.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:86
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
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
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
Hybrid Factor Graph Factor graph with utilities for hybrid factors.
Definition: HybridFactorGraph.h:39
boost::shared_ptr< This > shared_ptr
shared_ptr to This
Definition: HybridFactorGraph.h:43
Definition: HybridNonlinearFactorGraph.h:33
HybridNonlinearFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Implicit copy/downcast constructor to override explicit template container constructor.
Definition: HybridNonlinearFactorGraph.h:54
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:65