Program Listing for File Factor.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mola_kernel/factors/factors-common.h>

#include <variant>

namespace mola
{
using Factor = std::variant<
    std::monostate, FactorRelativePose3, FactorConstVelKinematics,
    FactorStereoProjectionPose, SmartFactorStereoProjectionPose, SmartFactorIMU,
    FactorOther>;

FactorBase& factor_get_base(Factor& f);
const FactorBase& factor_get_base(const Factor& f);

}  // namespace mola