gtsam 4.2.0
gtsam
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HybridGaussianFactorGraph.cpp File Reference

Hybrid factor graph that uses type erasure. More...

Namespaces

namespace  gtsam
 Global functions in a separate testing namespace.
 

Typedefs

using gtsam::OrphanWrapper = BayesTreeOrphanWrapper< HybridBayesTree::Clique >
 

Functions

const Ordering gtsam::HybridOrdering (const HybridGaussianFactorGraph &graph)
 Return a Colamd constrained ordering where the discrete keys are eliminated after the continuous keys.
 
GaussianFactorGraphTree gtsam::removeEmpty (const GaussianFactorGraphTree &sum)
 
std::pair< HybridConditional::shared_ptr, boost::shared_ptr< Factor > > gtsam::EliminateHybrid (const HybridGaussianFactorGraph &factors, const Ordering &keys)
 Main elimination function for HybridGaussianFactorGraph.
 

Detailed Description

Hybrid factor graph that uses type erasure.

Author
Fan Jiang
Varun Agrawal
Frank Dellaert
Date
Mar 11, 2022