HybridGaussianISAM.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/base/Testable.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/inference/ISAM.h>

#include <optional>

namespace gtsam {

class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
 public:
  typedef ISAM<HybridBayesTree> Base;
  typedef HybridGaussianISAM This;
  typedef std::shared_ptr<This> shared_ptr;


  HybridGaussianISAM();

  HybridGaussianISAM(const HybridBayesTree& bayesTree);


 private:
  void updateInternal(
      const HybridGaussianFactorGraph& newFactors,
      HybridBayesTree::Cliques* orphans,
      const std::optional<size_t>& maxNrLeaves = {},
      const std::optional<Ordering>& ordering = {},
      const HybridBayesTree::Eliminate& function =
          HybridBayesTree::EliminationTraitsType::DefaultEliminate);

 public:
  void update(const HybridGaussianFactorGraph& newFactors,
              const std::optional<size_t>& maxNrLeaves = {},
              const std::optional<Ordering>& ordering = {},
              const HybridBayesTree::Eliminate& function =
                  HybridBayesTree::EliminationTraitsType::DefaultEliminate);

  static Ordering GetOrdering(HybridGaussianFactorGraph& factors,
                              const HybridGaussianFactorGraph& newFactors);
};

template <>
struct traits<HybridGaussianISAM> : public Testable<HybridGaussianISAM> {};

}  // namespace gtsam