Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12]

▼Ndcsam
CDCContinuousFactor	Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a continuous factor (gtsam::NonlinearFactor) that can be passed to GTSAM/iSAM/iSAM2 for continuous optimization with a fixed assignment to discrete variables
CDCDiscreteFactor	Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a discrete factor (gtsam::DiscreteFactor) that can be passed to GTSAM for discrete optimization with a fixed assignment to continuous variables
CDCEMFactor	Implementation of a discrete-continuous EM factor
CDCFactor	Abstract class implementing a discrete-continuous factor
CDCFactorGraph
CDCMaxMixtureFactor	Implementation of a discrete-continuous max-mixture factor
CDCMixtureFactor	Implementation of a discrete conditional mixture factor. Implements a joint discrete-continuous factor where the discrete variable serves to "select" a mixture component corresponding to a gtsam::NonlinearFactor type of measurement
CDCSAM
CDCValues
CDCMarginals
CDiscreteMarginalsOrdered	Simple discrete marginals class allowing specific ordering
CDiscretePriorFactor	Implementation of a discrete prior factor
CHybridFactorGraph
CSemanticBearingRangeFactor	Factor that represents bearing and range measurements that incorporate a semantic class measurement
CSmartDiscretePriorFactor	Implementation of a "smart" updateable discrete prior factor
CSmartSemanticBearingRangeFactor	Implementation of a "smart" updateable semantic bearing-range factor