HybridSmoother.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

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

#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>

#include <optional>

namespace gtsam {

class HybridSmoother {
 private:
  HybridBayesNet hybridBayesNet_;
  HybridGaussianFactorGraph remainingFactorGraph_;

 public:
  void update(HybridGaussianFactorGraph graph, const Ordering& ordering,
              std::optional<size_t> maxNrLeaves = {});

  Ordering getOrdering(const HybridGaussianFactorGraph& newFactors);

  std::pair<HybridGaussianFactorGraph, HybridBayesNet> addConditionals(
      const HybridGaussianFactorGraph& graph,
      const HybridBayesNet& hybridBayesNet, const Ordering& ordering) const;

  GaussianMixture::shared_ptr gaussianMixture(size_t index) const;

  const HybridBayesNet& hybridBayesNet() const;
};

};  // namespace gtsam