HybridFactorGraph.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/HybridFactor.h>
#include <gtsam/inference/FactorGraph.h>
 
#include <boost/format.hpp>
#include <unordered_map>
 
namespace gtsam {
 
class DiscreteFactor;
class Ordering;
 
using SharedFactor = boost::shared_ptr<Factor>;

class HybridFactorGraph : public FactorGraph<Factor> {
 public:
  using Base = FactorGraph<Factor>;
  using This = HybridFactorGraph;              
  using shared_ptr = boost::shared_ptr<This>;  
 
  using Values = gtsam::Values;  
  using Indices = KeyVector;     
 
 public:

  HybridFactorGraph() = default;

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


  std::set<DiscreteKey> discreteKeys() const;

  KeySet discreteKeySet() const;

  std::unordered_map<Key, DiscreteKey> discreteKeyMap() const;

  const KeySet continuousKeySet() const;

};
 
}  // namespace gtsam