gtsam 4.2.0
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HybridSmoother.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
22
23namespace gtsam {
24
26 private:
27 HybridBayesNet hybridBayesNet_;
28 HybridGaussianFactorGraph remainingFactorGraph_;
29
30 public:
50 void update(HybridGaussianFactorGraph graph, const Ordering& ordering,
51 boost::optional<size_t> maxNrLeaves = boost::none);
52
53 Ordering getOrdering(const HybridGaussianFactorGraph& newFactors);
54
64 std::pair<HybridGaussianFactorGraph, HybridBayesNet> addConditionals(
65 const HybridGaussianFactorGraph& graph,
66 const HybridBayesNet& hybridBayesNet, const Ordering& ordering) const;
67
69 GaussianMixture::shared_ptr gaussianMixture(size_t index) const;
70
72 const HybridBayesNet& hybridBayesNet() const;
73};
74
75}; // namespace gtsam
A Bayes net of Gaussian Conditionals indexed by discrete keys.
Linearized Hybrid factor graph that uses type erasure.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
A hybrid Bayes net is a collection of HybridConditionals, which can have discrete conditionals,...
Definition HybridBayesNet.h:35
Definition HybridGaussianFactorGraph.h:102
Definition HybridSmoother.h:25
GaussianMixture::shared_ptr gaussianMixture(size_t index) const
Get the Gaussian Mixture from the Bayes Net posterior at index.
Definition HybridSmoother.cpp:131
void update(HybridGaussianFactorGraph graph, const Ordering &ordering, boost::optional< size_t > maxNrLeaves=boost::none)
Given new factors, perform an incremental update.
Definition HybridSmoother.cpp:58
std::pair< HybridGaussianFactorGraph, HybridBayesNet > addConditionals(const HybridGaussianFactorGraph &graph, const HybridBayesNet &hybridBayesNet, const Ordering &ordering) const
Add conditionals from previous timestep as part of liquefication.
Definition HybridSmoother.cpp:85
const HybridBayesNet & hybridBayesNet() const
Return the Bayes Net posterior.
Definition HybridSmoother.cpp:137
Definition Ordering.h:34