ReInitialize
parent
ee3733713f
commit
352c7f2efa
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@ -27,7 +27,6 @@ namespace gtsam {
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class GTSAM_EXPORT HybridSmoother {
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private:
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HybridBayesNet hybridBayesNet_;
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HybridGaussianFactorGraph remainingFactorGraph_;
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/// The threshold above which we make a decision about a mode.
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std::optional<double> marginalThreshold_;
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@ -44,6 +43,16 @@ class GTSAM_EXPORT HybridSmoother {
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HybridSmoother(const std::optional<double> marginalThreshold = {})
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: marginalThreshold_(marginalThreshold) {}
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/// Return fixed values:
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const DiscreteValues& fixedValues() const { return fixedValues_; }
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/**
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* Re-initialize the smoother from a new hybrid Bayes Net.
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*/
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void reInitialize(HybridBayesNet&& hybridBayesNet) {
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hybridBayesNet_ = std::move(hybridBayesNet);
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}
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/**
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* Given new factors, perform an incremental update.
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* The relevant densities in the `hybridBayesNet` will be added to the input
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