Element.h

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#pragma once

#include <list>
#include <ostream>

namespace isam {

class Element {
  Element(const Element& rhs); // not allowed
  const Element& operator= (const Element& rhs); // not allowed

  const char* _name;

  int _start; // needed for Slam::jacobian

protected:
  int _id;
  int _dim;

public:
  Element(const char* name, int dim) : _name(name), _dim(dim) {}
  virtual ~Element() {};

  virtual int unique_id() {return _id;}
  virtual const char* name() const {return _name;}
  inline int dim() const {return _dim;}
  inline int start() const {return _start;}

  virtual void write(std::ostream &out) const {
    out << name();
  }

  friend class Slam;
  friend class Covariances;
};

}