Program Listing for File FactorDynamicsConstVel.h
↰ Return to documentation for file (include/mola_kernel/factors/FactorDynamicsConstVel.h
)
/* -------------------------------------------------------------------------
* 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/FactorBase.h>
#include <mrpt/core/exceptions.h>
namespace mola
{
class FactorDynamicsConstVel : public FactorBase
{
DEFINE_SERIALIZABLE(FactorDynamicsConstVel, mola)
public:
FactorDynamicsConstVel() = default;
FactorDynamicsConstVel(id_t kf_from, id_t kf_to)
: from_kf_(kf_from), to_kf_{kf_to}
{
}
id_t from_kf_{INVALID_ID}, to_kf_{INVALID_ID};
std::size_t edge_count() const override { return 2; }
mola::id_t edge_indices(const std::size_t i) const override;
};
} // namespace mola