25class HybridGaussianFactorGraph;
53 template <
class DERIVEDFACTOR>
63 const std::string& s =
"HybridNonlinearFactorGraph",
64 const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const override;
77 boost::shared_ptr<HybridGaussianFactorGraph> linearize(
78 const Values& continuousValues)
const;
84 :
public Testable<HybridNonlinearFactorGraph> {};
Factor graph with utilities for hybrid factors.
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
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
Hybrid Factor Graph Factor graph with utilities for hybrid factors.
Definition HybridFactorGraph.h:39
Definition HybridNonlinearFactorGraph.h:33
boost::shared_ptr< This > shared_ptr
shared_ptr to This
Definition HybridNonlinearFactorGraph.h:38
HybridNonlinearFactorGraph(const FactorGraph< DERIVEDFACTOR > &graph)
Implicit copy/downcast constructor to override explicit template container constructor.
Definition HybridNonlinearFactorGraph.h:54
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