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ReInitialize

release/4.3a0
Frank Dellaert 2025-02-01 02:25:54 -05:00
parent ee3733713f
commit 352c7f2efa
1 changed files with 10 additions and 1 deletions
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11
gtsam/hybrid/HybridSmoother.h
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@ -27,7 +27,6 @@ namespace gtsam {
class GTSAM_EXPORT HybridSmoother { class GTSAM_EXPORT HybridSmoother {
private: private:
HybridBayesNet hybridBayesNet_; HybridBayesNet hybridBayesNet_;
HybridGaussianFactorGraph remainingFactorGraph_;
/// The threshold above which we make a decision about a mode. /// The threshold above which we make a decision about a mode.
std::optional<double> marginalThreshold_; std::optional<double> marginalThreshold_;
@ -44,6 +43,16 @@ class GTSAM_EXPORT HybridSmoother {
HybridSmoother(const std::optional<double> marginalThreshold = {}) HybridSmoother(const std::optional<double> marginalThreshold = {})
: marginalThreshold_(marginalThreshold) {} : marginalThreshold_(marginalThreshold) {}
/// Return fixed values:
const DiscreteValues& fixedValues() const { return fixedValues_; }
/**
* Re-initialize the smoother from a new hybrid Bayes Net.
*/
void reInitialize(HybridBayesNet&& hybridBayesNet) {
hybridBayesNet_ = std::move(hybridBayesNet);
}
/** /**
* Given new factors, perform an incremental update. * Given new factors, perform an incremental update.
* The relevant densities in the `hybridBayesNet` will be added to the input * The relevant densities in the `hybridBayesNet` will be added to the input