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Add static

release/4.3a0
Frank Dellaert 2022-12-31 14:41:26 -05:00
parent be8008e4ee
commit f6f782a088
1 changed files with 5 additions and 4 deletions
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9
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -81,7 +81,7 @@ static GaussianMixtureFactor::Sum &addGaussian(
}
/* ************************************************************************ */
GaussianMixtureFactor::Sum sumFrontals(
static GaussianMixtureFactor::Sum sumFrontals(
const HybridGaussianFactorGraph &factors) {
// sum out frontals, this is the factor on the separator
gttic(sum);
@ -136,7 +136,7 @@ GaussianMixtureFactor::Sum sumFrontals(
}
/* ************************************************************************ */
std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
static std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
continuousElimination(const HybridGaussianFactorGraph &factors,
const Ordering &frontalKeys) {
GaussianFactorGraph gfg;
@ -157,7 +157,7 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
}
/* ************************************************************************ */
std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
static std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
discreteElimination(const HybridGaussianFactorGraph &factors,
const Ordering &frontalKeys) {
DiscreteFactorGraph dfg;
@ -182,7 +182,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
}
/* ************************************************************************ */
std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
static std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
hybridElimination(const HybridGaussianFactorGraph &factors,
const Ordering &frontalKeys,
const KeySet &continuousSeparator,
@ -302,6 +302,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
return {boost::make_shared<HybridConditional>(conditional), factor};
}
}
/* ************************************************************************
* Function to eliminate variables **under the following assumptions**:
* 1. When the ordering is fully continuous, and the graph only contains