12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/hybrid/HybridFactorGraph.cpp
View File

@ -18,6 +18,7 @@
*/
#include <gtsam/hybrid/HybridFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
@ -58,6 +59,8 @@ const KeySet HybridFactorGraph::continuousKeySet() const {
}
} else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
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;