HybridNonlinearFactorGraph.h

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

 * 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/HybridFactorGraph.h>

namespace gtsam {

class HybridGaussianFactorGraph;

class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
 protected:
 public:
  using Base = HybridFactorGraph;
  using This = HybridNonlinearFactorGraph;     
  using shared_ptr = std::shared_ptr<This>;  

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


  HybridNonlinearFactorGraph() = default;

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


  void print(
      const std::string& s = "HybridNonlinearFactorGraph",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;


  std::shared_ptr<HybridGaussianFactorGraph> linearize(
      const Values& continuousValues) const;
};

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

}  // namespace gtsam