ExpressionFactorGraph.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/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>

namespace gtsam {

class ExpressionFactorGraph: public NonlinearFactorGraph {

public:


  template<typename T>
  void addExpressionFactor(const Expression<T>& h, const T& z,
      const SharedNoiseModel& R) {
    using F = ExpressionFactor<T>;
    push_back(boost::allocate_shared<F>(Eigen::aligned_allocator<F>(), R, z, h));
  }

};

}