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HybridNonlinearFactor linearize method

release/4.3a0
Varun Agrawal 2022-05-29 13:33:04 -04:00
parent cdd030b88b
commit 08fab8a936
1 changed files with 6 additions and 0 deletions
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6
gtsam/hybrid/HybridNonlinearFactor.h
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@ -18,6 +18,7 @@
#pragma once
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
@ -53,5 +54,10 @@ class HybridNonlinearFactor : public HybridFactor {
/// @}
NonlinearFactor::shared_ptr inner() const { return inner_; }
/// Linearize to a HybridGaussianFactor at the linearization point `c`.
boost::shared_ptr<HybridGaussianFactor> linearize(const Values &c) const {
return boost::make_shared<HybridGaussianFactor>(inner_->linearize(c));
}
};
} // namespace gtsam