25#include <boost/format.hpp>
26#include <unordered_map>
33using SharedFactor = boost::shared_ptr<Factor>;
60 template <
class DERIVEDFACTOR>
Global functions in a separate testing namespace.
Definition chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition Key.h:86
Hybrid Factor Graph Factor graph with utilities for hybrid factors.
Definition HybridFactorGraph.h:39
HybridFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Implicit copy/downcast constructor to override explicit template container constructor.
Definition HybridFactorGraph.h:61
KeySet discreteKeySet() const
Get all the discrete keys in the factor graph, as a set.
Definition HybridFactorGraph.cpp:46
boost::shared_ptr< This > shared_ptr
shared_ptr to This
Definition HybridFactorGraph.h:43
std::unordered_map< Key, DiscreteKey > discreteKeyMap() const
Get a map from Key to corresponding DiscreteKey.
Definition HybridFactorGraph.cpp:56
const KeySet continuousKeySet() const
Get all the continuous keys in the factor graph.
Definition HybridFactorGraph.cpp:65
HybridFactorGraph()=default
Default constructor.
std::set< DiscreteKey > discreteKeys() const
Get all the discrete keys in the factor graph.
Definition HybridFactorGraph.cpp:28
A factor graph is a bipartite graph with factor nodes connected to variable nodes.
Definition FactorGraph.h:97
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65