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release/4.3a0
Frank Dellaert 2024-09-29 00:34:31 -07:00
parent 4fa192248d
commit cc79d0432d
1 changed files with 32 additions and 6 deletions
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38
gtsam/hybrid/HybridGaussianConditional.h
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@ -87,18 +87,44 @@ class GTSAM_EXPORT HybridGaussianConditional
const DiscreteKey &mode,
const std::vector<GaussianConditional::shared_ptr> &conditionals);
/// Construct from mean `mu_i` and `sigma_i`.
/**
* @brief Constructs a HybridGaussianConditional with means mu_i and
* standard deviations sigma_i.
*
* @param mode The discrete mode key.
* @param key The key for this conditional variable.
* @param parameters A vector of pairs (mu_i, sigma_i).
*/
HybridGaussianConditional(
const DiscreteKey &mode, Key key, //
const DiscreteKey &mode, Key key,
const std::vector<std::pair<Vector, double>> &parameters);
/// Construct from conditional mean `A1 p1 + b_i` and `sigma_i`.
/**
* @brief Constructs a HybridGaussianConditional with conditional means
* A × parent + b_i and standard deviations sigma_i.
*
* @param mode The discrete mode key.
* @param key The key for this conditional variable.
* @param A The matrix A.
* @param parent The key of the parent variable.
* @param parameters A vector of pairs (b_i, sigma_i).
*/
HybridGaussianConditional(
const DiscreteKey &mode, Key key, //
const Matrix &A, Key parent,
const DiscreteKey &mode, Key key, const Matrix &A, Key parent,
const std::vector<std::pair<Vector, double>> &parameters);
/// Construct from conditional mean `A1 p1 + A2 p2 + b_i` and `sigma_i`.
/**
* @brief Constructs a HybridGaussianConditional with conditional means
* A1 × parent1 + A2 × parent2 + b_i and standard deviations sigma_i.
*
* @param mode The discrete mode key.
* @param key The key for this conditional variable.
* @param A1 The first matrix.
* @param parent1 The key of the first parent variable.
* @param A2 The second matrix.
* @param parent2 The key of the second parent variable.
* @param parameters A vector of pairs (b_i, sigma_i).
*/
HybridGaussianConditional(
const DiscreteKey &mode, Key key, //
const Matrix &A1, Key parent1, const Matrix &A2, Key parent2,