Program Listing for File point_2d_fixed_landmark.hpp
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#ifndef FUSE_VARIABLES__POINT_2D_FIXED_LANDMARK_HPP_
#define FUSE_VARIABLES__POINT_2D_FIXED_LANDMARK_HPP_
#include <ostream>
#include <fuse_core/ceres_macros.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/manifold.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_variables/fixed_size_variable.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
namespace fuse_variables
{
class Point2DFixedLandmark : public FixedSizeVariable<2>
{
public:
FUSE_VARIABLE_DEFINITIONS(Point2DFixedLandmark)
enum : size_t
{
X = 0,
Y = 1
};
Point2DFixedLandmark() = default;
explicit Point2DFixedLandmark(const uint64_t & landmark_id);
double & x() {return data_[X];}
const double & x() const {return data_[X];}
double & y() {return data_[Y];}
const double & y() const {return data_[Y];}
const uint64_t & id() const {return id_;}
void print(std::ostream & stream = std::cout) const override;
bool holdConstant() const override;
#if CERES_SUPPORTS_MANIFOLDS
fuse_core::Manifold * manifold() const override {return nullptr;}
#endif
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
uint64_t id_ {0};
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<FixedSizeVariable<SIZE>>(*this);
archive & id_;
}
};
} // namespace fuse_variables
BOOST_CLASS_EXPORT_KEY(fuse_variables::Point2DFixedLandmark);
#endif // FUSE_VARIABLES__POINT_2D_FIXED_LANDMARK_HPP_