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implement MixtureFactor::error

release/4.3a0
Varun Agrawal 2023-01-15 00:59:54 -05:00
parent b010a240f3
commit 35d560f3fc
1 changed files with 8 additions and 3 deletions
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11
gtsam/hybrid/MixtureFactor.h
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@ -21,6 +21,7 @@
#include <gtsam/discrete/DiscreteValues.h> #include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h> #include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
@ -160,10 +161,14 @@ class MixtureFactor : public HybridFactor {
factor, continuousValues); factor, continuousValues);
} }
/// Error for HybridValues is not provided for nonlinear hybrid factor. /**
* @brief Compute error of factor given hybrid values.
*
* @param values The continuous Values and the discrete assignment.
* @return double The error of this factor.
*/
double error(const HybridValues& values) const override { double error(const HybridValues& values) const override {
throw std::runtime_error( return error(values.nonlinear(), values.discrete());
"MixtureFactor::error(HybridValues) not implemented.");
} }
/** /**