gtsam_unstable/slam/DummyFactor.h

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#pragma once

#include <gtsam_unstable/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactor.h>

namespace gtsam {

class GTSAM_UNSTABLE_EXPORT DummyFactor : public NonlinearFactor {
protected:

  // Store the dimensions of the variables and the dimension of the full system
  std::vector<size_t> dims_;
  size_t rowDim_; 

public:

  DummyFactor() : rowDim_(1) { }

  DummyFactor(const Key& key1, size_t dim1, const Key& key2, size_t dim2);

  ~DummyFactor() override {}

  // testable

  void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& f, double tol = 1e-9) const override;

  // access

  const std::vector<size_t>& dims() const { return dims_; }

  // factor interface

  double error(const Values& c) const override { return 0.0; }

  size_t dim() const override { return rowDim_; }

  boost::shared_ptr<GaussianFactor> linearize(const Values& c) const override;

  NonlinearFactor::shared_ptr clone() const override {
    return boost::static_pointer_cast<NonlinearFactor>(
        NonlinearFactor::shared_ptr(new DummyFactor(*this)));
  }

};

} // \namespace gtsam