Program Listing for File range_constraint.hpp

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#ifndef FUSE_TUTORIALS__RANGE_CONSTRAINT_HPP_
#define FUSE_TUTORIALS__RANGE_CONSTRAINT_HPP_

#include <ceres/cost_function.h>

#include <ostream>
#include <string>

#include <fuse_core/constraint.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_variables/point_2d_landmark.hpp>
#include <fuse_variables/position_2d_stamped.hpp>

#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>


namespace fuse_tutorials
{
class RangeConstraint : public fuse_core::Constraint
{
public:
  // There are some boilerplate types and functions that must be implemented for each constraint,
  // such as shared pointer typedefs and clone() methods. These are formulaic, but the derived type
  // is needed for their proper implementation. A few different macro options are provided to make
  // implementing this boilerplate code easy.
  FUSE_CONSTRAINT_DEFINITIONS(RangeConstraint)


  RangeConstraint() = default;

  RangeConstraint(
    const std::string & source,
    const fuse_variables::Position2DStamped & robot_position,
    const fuse_variables::Point2DLandmark & beacon_position,
    const double z,
    const double sigma);

  void print(std::ostream & stream = std::cout) const override;

  ceres::CostFunction * costFunction() const override;

private:
  // Allow Boost Serialization access to private methods and members
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & boost::serialization::base_object<fuse_core::Constraint>(*this);
    archive & sigma_;
    archive & z_;
  }

  double sigma_ {0.0};
  double z_ {0.0};
};

}  // namespace fuse_tutorials

// This is part of the serialization requirement. Boost needs to be told this class is serializable.
BOOST_CLASS_EXPORT_KEY(fuse_tutorials::RangeConstraint);

#endif  // FUSE_TUTORIALS__RANGE_CONSTRAINT_HPP_