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HybridFactorGraph docs and minor updates

release/4.3a0
Varun Agrawal 2022-05-27 16:07:52 -04:00
parent d60c4aca5a
commit adcbb65e5c
2 changed files with 26 additions and 17 deletions
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21
gtsam/hybrid/HybridFactorGraph.cpp
View File

@ -63,6 +63,7 @@ static std::string RESET = "\033[0m";
constexpr bool DEBUG = false;
/* ************************************************************************ */
static GaussianMixtureFactor::Sum &addGaussian(
GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
using Y = GaussianFactorGraph;
@ -406,20 +407,24 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
}
}
/* ************************************************************************ */
void HybridFactorGraph::add(JacobianFactor &&factor) {
FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
}
void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
}
void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
}
/* ************************************************************************ */
void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
}
/* ************************************************************************ */
void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
}
/* ************************************************************************ */
void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
}
} // namespace gtsam

22
gtsam/hybrid/HybridFactorGraph.h
View File

@ -81,30 +81,34 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
using Values = gtsam::Values; ///< backwards compatibility
using Indices = KeyVector; ///> map from keys to values
public:
/// @name Constructors
/// @{
HybridFactorGraph() = default;
// /** Construct from container of factors (shared_ptr or plain objects) */
// template <class CONTAINER>
// explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
/** Implicit copy/downcast constructor to override explicit template container
/**
* Implicit copy/downcast constructor to override explicit template container
* constructor. In BayesTree this is used for:
* `cachedSeparatorMarginal_.reset(*separatorMarginal)`
* */
template <class DERIVEDFACTOR>
HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/// @}
using FactorGraph::add;
/// Add a factor directly using a shared_ptr.
/// Add a Jacobian factor to the factor graph.
void add(JacobianFactor&& factor);
/// Add a Jacobian factor as a shared ptr.
void add(boost::shared_ptr<JacobianFactor> factor);
/// Add a DecisionTreeFactor to the factor graph.
void add(DecisionTreeFactor&& factor);
/// Add a DecisionTreeFactor as a shared ptr.
void add(boost::shared_ptr<DecisionTreeFactor> factor);
void add(boost::shared_ptr<JacobianFactor> factor);
};
} // namespace gtsam