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

wrap more HybridSmoother methods

release/4.3a0
Varun Agrawal 2025-02-08 23:28:16 -05:00
parent 24b31b238f
commit ea16de3bfd
1 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
gtsam/hybrid/hybrid.i
View File

@ -228,7 +228,7 @@ class HybridNonlinearFactorGraph {
void push_back(gtsam::NonlinearFactor* factor);
void push_back(gtsam::DiscreteFactor* factor);
void push_back(const gtsam::HybridNonlinearFactorGraph& graph);
//TODO(Varun) Wrap add() methods
// TODO(Varun) Wrap add() methods
gtsam::HybridGaussianFactorGraph linearize(
const gtsam::Values& continuousValues) const;
@ -283,7 +283,17 @@ class HybridSmoother {
std::optional<size_t> maxNrLeaves = std::nullopt,
const std::optional<gtsam::Ordering> given_ordering = std::nullopt);
HybridValues optimize() const;
gtsam::Ordering getOrdering(const gtsam::HybridGaussianFactorGraph& factors,
const gtsam::KeySet& newFactorKeys);
std::pair<gtsam::HybridGaussianFactorGraph, gtsam::HybridBayesNet>
addConditionals(const gtsam::HybridGaussianFactorGraph& graph,
const gtsam::HybridBayesNet& hybridBayesNet) const;
gtsam::HybridGaussianConditional* gaussianMixture(size_t index) const;
const gtsam::HybridBayesNet& hybridBayesNet() const;
gtsam::HybridValues optimize() const;
};
} // namespace gtsam