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get keys from NonlinearFactors as well

release/4.3a0
Varun Agrawal 2024-09-28 16:52:35 -04:00
parent 6d57055c71
commit b2c73af2a2
1 changed files with 3 additions and 0 deletions
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3
gtsam/hybrid/HybridFactorGraph.cpp
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@ -18,6 +18,7 @@
*/ */
#include <gtsam/hybrid/HybridFactorGraph.h> #include <gtsam/hybrid/HybridFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam { namespace gtsam {
@ -58,6 +59,8 @@ const KeySet HybridFactorGraph::continuousKeySet() const {
} }
} else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) { } else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
keys.insert(p->keys().begin(), p->keys().end()); keys.insert(p->keys().begin(), p->keys().end());
} else if (auto p = std::dynamic_pointer_cast<NonlinearFactor>(factor)) {
keys.insert(p->keys().begin(), p->keys().end());
} }
} }
return keys; return keys;