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release/4.3a0
Fan Jiang 2022-03-23 20:42:26 -04:00
parent 4f8dfeb5b2
commit 293ef614ac
3 changed files with 12 additions and 3 deletions
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3
gtsam/hybrid/HybridEliminationTree.h
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@ -23,6 +23,9 @@
namespace gtsam {
/**
* Elimination Tree type for Hybrid
*/
class GTSAM_EXPORT HybridEliminationTree
: public EliminationTree<HybridBayesNet, HybridFactorGraph> {
public:

10
gtsam/hybrid/HybridFactorGraph.h
View File

@ -37,8 +37,8 @@ class JacobianFactor;
/** Main elimination function for HybridFactorGraph */
GTSAM_EXPORT
std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
/* ************************************************************************* */
template <>
@ -62,6 +62,12 @@ struct EliminationTraits<HybridFactorGraph> {
}
};
/**
* Hybrid Factor Graph
* -----------------------
* This is the linear version of a hybrid factor graph. Everything inside needs
* to be hybrid factor or hybrid conditional.
*/
class HybridFactorGraph : public FactorGraph<HybridFactor>,
public EliminateableFactorGraph<HybridFactorGraph> {
public: