.. _program_listing_file__tmp_ws_src_fuse_fuse_loss_include_fuse_loss_arctan_loss.hpp:

Program Listing for File arctan_loss.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_fuse_fuse_loss_include_fuse_loss_arctan_loss.hpp>` (``/tmp/ws/src/fuse/fuse_loss/include/fuse_loss/arctan_loss.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2019, Clearpath Robotics
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of the copyright holder nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   #ifndef FUSE_LOSS__ARCTAN_LOSS_HPP_
   #define FUSE_LOSS__ARCTAN_LOSS_HPP_
   
   #include <ostream>
   #include <string>
   
   #include <fuse_core/loss.hpp>
   
   #include <boost/serialization/access.hpp>
   #include <boost/serialization/base_object.hpp>
   #include <boost/serialization/export.hpp>
   
   
   namespace fuse_loss
   {
   
   class ArctanLoss : public fuse_core::Loss
   {
   public:
     FUSE_LOSS_DEFINITIONS(ArctanLoss)
   
     
     explicit ArctanLoss(const double a = 1.0);
   
     ~ArctanLoss() override = default;
   
     void initialize(
       fuse_core::node_interfaces::NodeInterfaces<
         fuse_core::node_interfaces::Base,
         fuse_core::node_interfaces::Logging,
         fuse_core::node_interfaces::Parameters
       > interfaces,
       const std::string & name) override;
   
     void print(std::ostream & stream = std::cout) const override;
   
     ceres::LossFunction * lossFunction() const override;
   
     double a() const
     {
       return a_;
     }
   
     void a(const double a)
     {
       a_ = a;
     }
   
   private:
     double a_{1.0};    
   
     // Allow Boost Serialization access to private methods
     friend class boost::serialization::access;
   
     template<class Archive>
     void serialize(Archive & archive, const unsigned int /* version */)
     {
       archive & boost::serialization::base_object<fuse_core::Loss>(*this);
       archive & a_;
     }
   };
   
   }  // namespace fuse_loss
   
   BOOST_CLASS_EXPORT_KEY(fuse_loss::ArctanLoss);
   
   #endif  // FUSE_LOSS__ARCTAN_LOSS_HPP_