gtsam_unstable/slam/DummyFactor.h
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1 
10 #pragma once
11 
12 #include <gtsam_unstable/dllexport.h>
14 
15 namespace gtsam {
16 
17 class GTSAM_UNSTABLE_EXPORT DummyFactor : public NonlinearFactor {
18 protected:
19 
20  // Store the dimensions of the variables and the dimension of the full system
21  std::vector<size_t> dims_;
22  size_t rowDim_;
23 
24 public:
25 
27  DummyFactor() : rowDim_(1) { }
28 
30  DummyFactor(const Key& key1, size_t dim1, const Key& key2, size_t dim2);
31 
32  ~DummyFactor() override {}
33 
34  // testable
35 
37  void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
38 
40  bool equals(const NonlinearFactor& f, double tol = 1e-9) const override;
41 
42  // access
43 
44  const std::vector<size_t>& dims() const { return dims_; }
45 
46  // factor interface
47 
51  double error(const Values& c) const override { return 0.0; }
52 
54  size_t dim() const override { return rowDim_; }
55 
57  std::shared_ptr<GaussianFactor> linearize(const Values& c) const override;
58 
66  return std::static_pointer_cast<NonlinearFactor>(
68  }
69 
70 };
71 
72 } // \namespace gtsam
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74 
75 
76 
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
NonlinearFactor::shared_ptr clone() const override
Scalar Scalar * c
Definition: benchVecAdd.cpp:17
double error(const Values &c) const override
static const KeyFormatter DefaultKeyFormatter
Definition: Key.h:43
size_t rowDim_
choose dimension for the rows
const Symbol key1('v', 1)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
RealScalar s
const std::vector< size_t > & dims() const
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
traits
Definition: chartTesting.h:28
Non-linear factor base classes.
std::shared_ptr< This > shared_ptr
const G double tol
Definition: Group.h:86
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:102
const Symbol key2('v', 2)


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autogenerated on Tue Jul 4 2023 02:34:11