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add IsGaussian template check

release/4.3a0
Varun Agrawal 2022-07-26 07:21:05 -04:00
parent 8ddc2ea989
commit 7a55341e32
1 changed files with 7 additions and 1 deletions
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8
gtsam/hybrid/HybridGaussianFactorGraph.h
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@ -75,8 +75,14 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
* Everything inside needs to be hybrid factor or hybrid conditional. * Everything inside needs to be hybrid factor or hybrid conditional.
*/ */
class GTSAM_EXPORT HybridGaussianFactorGraph class GTSAM_EXPORT HybridGaussianFactorGraph
: public HybridFactorGraph,, : public HybridFactorGraph,
public EliminateableFactorGraph<HybridGaussianFactorGraph> { public EliminateableFactorGraph<HybridGaussianFactorGraph> {
protected:
/// Check if FACTOR type is derived from GaussianFactor.
template <typename FACTOR>
using IsGaussian = typename std::enable_if<
std::is_base_of<GaussianFactor, FACTOR>::value>::type;
public: public:
using Base = HybridFactorGraph; using Base = HybridFactorGraph;
using This = HybridGaussianFactorGraph; ///< this class using This = HybridGaussianFactorGraph; ///< this class