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wrap HybridSmoother

release/4.3a0
Varun Agrawal 2025-02-08 22:43:19 -05:00
parent a35e5a6b08
commit ed1f8734c9
1 changed files with 17 additions and 3 deletions
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20
gtsam/hybrid/hybrid.i
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@ -243,9 +243,8 @@ class HybridNonlinearFactorGraph {
#include <gtsam/hybrid/HybridNonlinearFactor.h> #include <gtsam/hybrid/HybridNonlinearFactor.h>
class HybridNonlinearFactor : gtsam::HybridFactor { class HybridNonlinearFactor : gtsam::HybridFactor {
HybridNonlinearFactor( HybridNonlinearFactor(const gtsam::DiscreteKey& discreteKey,
const gtsam::DiscreteKey& discreteKey, const std::vector<gtsam::NoiseModelFactor*>& factors);
const std::vector<gtsam::NoiseModelFactor*>& factors);
HybridNonlinearFactor( HybridNonlinearFactor(
const gtsam::DiscreteKey& discreteKey, const gtsam::DiscreteKey& discreteKey,
@ -266,4 +265,19 @@ class HybridNonlinearFactor : gtsam::HybridFactor {
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/hybrid/HybridSmoother.h>
class HybridSmoother {
HybridSmoother(const std::optional<double> marginalThreshold = std::nullopt);
const gtsam::DiscreteValues& fixedValues() const;
void reInitialize(gtsam::HybridBayesNet& hybridBayesNet);
void update(
const gtsam::HybridGaussianFactorGraph& graph,
std::optional<size_t> maxNrLeaves = std::nullopt,
const std::optional<gtsam::Ordering> given_ordering = std::nullopt);
HybridValues optimize() const;
};
} // namespace gtsam } // namespace gtsam