83 lines
2.2 KiB
C++
83 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file HybridFactorGraph.h
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* @brief Factor graph with utilities for hybrid factors.
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* @author Varun Agrawal
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* @author Frank Dellaert
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* @date May 28, 2022
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*/
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#pragma once
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#include <gtsam/hybrid/HybridFactor.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <boost/format.hpp>
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#include <unordered_map>
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namespace gtsam {
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class DiscreteFactor;
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class Ordering;
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using SharedFactor = std::shared_ptr<Factor>;
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/**
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* Hybrid Factor Graph
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* Factor graph with utilities for hybrid factors.
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*/
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class HybridFactorGraph : public FactorGraph<Factor> {
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public:
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using Base = FactorGraph<Factor>;
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using This = HybridFactorGraph; ///< this class
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using shared_ptr = std::shared_ptr<This>; ///< shared_ptr to This
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using Values = gtsam::Values; ///< backwards compatibility
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using Indices = KeyVector; ///> map from keys to values
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public:
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/// @name Constructors
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/// @{
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/// Default constructor
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HybridFactorGraph() = default;
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/**
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* Implicit copy/downcast constructor to override explicit template container
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* constructor. In BayesTree this is used for:
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* `cachedSeparatorMarginal_.reset(*separatorMarginal)`
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* */
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template <class DERIVEDFACTOR>
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HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
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/// @}
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/// @name Extra methods to inspect discrete/continuous keys.
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/// @{
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/// Get all the discrete keys in the factor graph.
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std::set<DiscreteKey> discreteKeys() const;
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/// Get all the discrete keys in the factor graph, as a set.
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KeySet discreteKeySet() const;
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/// Get a map from Key to corresponding DiscreteKey.
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std::unordered_map<Key, DiscreteKey> discreteKeyMap() const;
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/// Get all the continuous keys in the factor graph.
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const KeySet continuousKeySet() const;
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/// @}
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};
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} // namespace gtsam
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