51 boost::optional<size_t> maxNrLeaves = boost::none);
A Bayes net of Gaussian Conditionals indexed by discrete keys.
Linearized Hybrid factor graph that uses type erasure.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
A hybrid Bayes net is a collection of HybridConditionals, which can have discrete conditionals,...
Definition HybridBayesNet.h:35
Definition HybridGaussianFactorGraph.h:102
Definition HybridSmoother.h:25
GaussianMixture::shared_ptr gaussianMixture(size_t index) const
Get the Gaussian Mixture from the Bayes Net posterior at index.
Definition HybridSmoother.cpp:101
void update(HybridGaussianFactorGraph graph, const Ordering &ordering, boost::optional< size_t > maxNrLeaves=boost::none)
Given new factors, perform an incremental update.
Definition HybridSmoother.cpp:27
std::pair< HybridGaussianFactorGraph, HybridBayesNet > addConditionals(const HybridGaussianFactorGraph &graph, const HybridBayesNet &hybridBayesNet, const Ordering &ordering) const
Add conditionals from previous timestep as part of liquefication.
Definition HybridSmoother.cpp:54
const HybridBayesNet & hybridBayesNet() const
Return the Bayes Net posterior.
Definition HybridSmoother.cpp:107