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add constructor for HybridFactorGraph which takes a container of factors

release/4.3a0
Varun Agrawal 2024-01-16 15:00:35 -05:00
parent f3e84004bf
commit e7cb7b2dcd
2 changed files with 10 additions and 1 deletions
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6
gtsam/hybrid/HybridFactorGraph.h
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@ -38,7 +38,7 @@ using SharedFactor = std::shared_ptr<Factor>;
class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
public:
using Base = FactorGraph<Factor>;
using This = HybridFactorGraph; ///< this class
using This = HybridFactorGraph; ///< this class
using shared_ptr = std::shared_ptr<This>; ///< shared_ptr to This
using Values = gtsam::Values; ///< backwards compatibility
@ -59,6 +59,10 @@ class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
template <class DERIVEDFACTOR>
HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
/** Construct from container of factors (shared_ptr or plain objects) */
template <class CONTAINER>
explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
/// @}
/// @name Extra methods to inspect discrete/continuous keys.
/// @{

5
gtsam/hybrid/HybridGaussianFactorGraph.h
View File

@ -126,6 +126,11 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
/// @brief Default constructor.
HybridGaussianFactorGraph() = default;
/** Construct from container of factors (shared_ptr or plain objects) */
template <class CONTAINER>
explicit HybridGaussianFactorGraph(const CONTAINER& factors)
: Base(factors) {}
/**
* Implicit copy/downcast constructor to override explicit template container
* constructor. In BayesTree this is used for: