Program Listing for File Factor.h
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/* -------------------------------------------------------------------------
* A Modular Optimization framework for Localization and mApping (MOLA)
* Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
* See LICENSE for license information.
* ------------------------------------------------------------------------- */
#pragma once
#include <mola_kernel/factors/factors-common.h>
#include <variant>
namespace mola
{
using Factor = std::variant<
std::monostate, FactorRelativePose3, FactorConstVelKinematics,
FactorStereoProjectionPose, SmartFactorStereoProjectionPose, SmartFactorIMU,
FactorOther>;
FactorBase& factor_get_base(Factor& f);
const FactorBase& factor_get_base(const Factor& f);
} // namespace mola