diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h index afa410318..5f04851d4 100644 --- a/gtsam/hybrid/HybridNonlinearFactorGraph.h +++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h @@ -109,6 +109,23 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph { } } + /** + * Push back many factors as shared_ptr's in a container (factors are not + * copied) + */ + template + Base::Base::HasDerivedElementType push_back( + const CONTAINER& container) { + Base::push_back(container.begin(), container.end()); + } + + /// Push back non-pointer objects in a container (factors are copied). + template + Base::Base::HasDerivedValueType push_back( + const CONTAINER& container) { + Base::push_back(container.begin(), container.end()); + } + /// Add a nonlinear factor as a shared ptr. void add(boost::shared_ptr factor);