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method to get the nonlinear factors

release/4.3a0
Varun Agrawal 2024-10-30 16:32:06 -04:00
parent 7f07509388
commit be9fb064f5
1 changed files with 11 additions and 1 deletions
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12
gtsam/hybrid/tests/Switching.h
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@ -214,13 +214,23 @@ struct Switching {
return chain; return chain;
} }
HybridGaussianFactorGraph linearizedFactorGraph() { /// Get the full linear factor graph.
HybridGaussianFactorGraph linearizedFactorGraph() const {
HybridGaussianFactorGraph graph; HybridGaussianFactorGraph graph;
graph.push_back(linearUnaryFactors); graph.push_back(linearUnaryFactors);
graph.push_back(linearBinaryFactors); graph.push_back(linearBinaryFactors);
graph.push_back(modeChain); graph.push_back(modeChain);
return graph; return graph;
} }
/// Get all the nonlinear factors.
HybridNonlinearFactorGraph nonlinearFactorGraph() const {
HybridNonlinearFactorGraph graph;
graph.push_back(unaryFactors);
graph.push_back(binaryFactors);
graph.push_back(modeChain);
return graph;
}
}; };
} // namespace gtsam } // namespace gtsam