HybridFactorGraph.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/inference/FactorGraph.h>

#include <unordered_map>

namespace gtsam {

class DiscreteFactor;
class Ordering;

using SharedFactor = std::shared_ptr<Factor>;

class HybridFactorGraph : public FactorGraph<Factor> {
 public:
  using Base = FactorGraph<Factor>;
  using This = HybridFactorGraph;              
  using shared_ptr = std::shared_ptr<This>;  

  using Values = gtsam::Values;  
  using Indices = KeyVector;     

 public:

  HybridFactorGraph() = default;

  template <class DERIVEDFACTOR>
  HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}


  std::set<DiscreteKey> discreteKeys() const;

  KeySet discreteKeySet() const;

  std::unordered_map<Key, DiscreteKey> discreteKeyMap() const;

  const KeySet continuousKeySet() const;

};

}  // namespace gtsam