12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix wrapper

release/4.3a0
Frank Dellaert 2024-09-26 14:51:39 -07:00
parent bb4c3c95ab
commit 1a566ea2bb
2 changed files with 9 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/hybrid/hybrid.i
View File

@ -75,10 +75,12 @@ virtual class HybridConditional {
#include <gtsam/hybrid/HybridGaussianFactor.h>
class HybridGaussianFactor : gtsam::HybridFactor {
HybridGaussianFactor(
const gtsam::KeyVector& continuousKeys,
const gtsam::DiscreteKey& discreteKey,
const std::vector<gtsam::GaussianFactor::shared_ptr>& factors);
HybridGaussianFactor(
const gtsam::DiscreteKey& discreteKey,
const std::vector<std::pair<gtsam::GaussianFactor::shared_ptr, double>>&
factorsList);
factorPairs);
void print(string s = "HybridGaussianFactor\n",
const gtsam::KeyFormatter& keyFormatter =
@ -88,13 +90,9 @@ class HybridGaussianFactor : gtsam::HybridFactor {
#include <gtsam/hybrid/HybridGaussianConditional.h>
class HybridGaussianConditional : gtsam::HybridFactor {
HybridGaussianConditional(
const gtsam::KeyVector& continuousFrontals,
const gtsam::KeyVector& continuousParents,
const gtsam::DiscreteKeys& discreteParents,
const gtsam::HybridGaussianConditional::Conditionals& conditionals);
HybridGaussianConditional(
const gtsam::KeyVector& continuousFrontals,
const gtsam::KeyVector& continuousParents,
const gtsam::DiscreteKey& discreteParent,
const std::vector<gtsam::GaussianConditional::shared_ptr>& conditionals);
@ -246,15 +244,15 @@ class HybridNonlinearFactorGraph {
#include <gtsam/hybrid/HybridNonlinearFactor.h>
class HybridNonlinearFactor : gtsam::HybridFactor {
HybridNonlinearFactor(
const gtsam::KeyVector& keys, const gtsam::DiscreteKey& discreteKey,
const gtsam::DiscreteKey& discreteKey,
const std::vector<gtsam::NonlinearFactor*>& factors);
HybridNonlinearFactor(
const gtsam::KeyVector& keys, const gtsam::DiscreteKey& discreteKey,
const gtsam::DiscreteKey& discreteKey,
const std::vector<std::pair<gtsam::NonlinearFactor*, double>>& factors);
HybridNonlinearFactor(
const gtsam::KeyVector& keys, const gtsam::DiscreteKeys& discreteKeys,
const gtsam::DiscreteKeys& discreteKeys,
const gtsam::DecisionTree<
gtsam::Key, std::pair<gtsam::NonlinearFactor*, double>>& factors);

5
python/gtsam/tests/test_HybridFactorGraph.py
View File

@ -17,7 +17,7 @@ from gtsam.symbol_shorthand import C, M, X, Z
from gtsam.utils.test_case import GtsamTestCase
import gtsam
from gtsam import (DiscreteConditional, DiscreteKeys, GaussianConditional,
from gtsam import (DiscreteConditional, GaussianConditional,
HybridBayesNet, HybridGaussianConditional,
HybridGaussianFactor, HybridGaussianFactorGraph,
HybridValues, JacobianFactor, noiseModel)
@ -102,8 +102,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
X(0), [0],
sigma=3)
bayesNet.push_back(
HybridGaussianConditional([Z(i)], [X(0)], mode,
[conditional0, conditional1]))
HybridGaussianConditional(mode, [conditional0, conditional1]))
# Create prior on X(0).
prior_on_x0 = GaussianConditional.FromMeanAndStddev(