Factor_GenericPrior.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_INIT_CERES_GENERICPRIOR_H
#define OV_INIT_CERES_GENERICPRIOR_H

#include <ceres/ceres.h>

namespace ov_init {

class Factor_GenericPrior : public ceres::CostFunction {
public:
  Eigen::MatrixXd x_lin;

  std::vector<std::string> x_type;

  Eigen::MatrixXd sqrtI;

  Eigen::MatrixXd b;

  Factor_GenericPrior(const Eigen::MatrixXd &x_lin_, const std::vector<std::string> &x_type_, const Eigen::MatrixXd &prior_Info,
                      const Eigen::MatrixXd &prior_grad);

  virtual ~Factor_GenericPrior() {}

  bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const override;
};

} // namespace ov_init

#endif // OV_INIT_CERES_GENERICPRIOR_H