Value.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #pragma once
20 
21 #include <gtsam/config.h> // Configuration from CMake
22 
23 #include <gtsam/base/Vector.h>
24 #include <boost/serialization/assume_abstract.hpp>
25 #include <memory>
26 
27 namespace gtsam {
28 
36  class GTSAM_EXPORT Value {
37  public:
38 
40  virtual Value* clone_() const = 0;
41 
43  virtual void deallocate_() const = 0;
44 
46  virtual boost::shared_ptr<Value> clone() const = 0;
47 
49  virtual bool equals_(const Value& other, double tol = 1e-9) const = 0;
50 
52  virtual void print(const std::string& str = "") const = 0;
53 
59  virtual size_t dim() const = 0;
60 
67  virtual Value* retract_(const Vector& delta) const = 0;
68 
75  virtual Vector localCoordinates_(const Value& value) const = 0;
76 
78  virtual Value& operator=(const Value& /*rhs*/) {
79  //needs a empty definition so recursion in implicit derived assignment operators work
80  return *this;
81  }
82 
84  template<typename ValueType>
85  const ValueType& cast() const;
86 
88  virtual ~Value() {}
89 
90  private:
121  friend class boost::serialization::access;
122  template<class ARCHIVE>
123  void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
124  }
125 
126  };
127 
128 } /* namespace gtsam */
129 
130 BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
void serialize(ARCHIVE &, const unsigned int)
Definition: Value.h:123
Eigen::VectorXd Vector
Definition: Vector.h:38
Definition: pytypes.h:928
EIGEN_DEVICE_FUNC NewType cast(const OldType &x)
virtual Value & operator=(const Value &)
Definition: Value.h:78
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const mpreal dim(const mpreal &a, const mpreal &b, mp_rnd_t r=mpreal::get_default_rnd())
Definition: mpreal.h:2201
traits
Definition: chartTesting.h:28
typedef and functions to augment Eigen&#39;s VectorXd
const G double tol
Definition: Group.h:83
virtual ~Value()
Definition: Value.h:88


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autogenerated on Sat May 8 2021 02:51:23