Vec.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_TYPE_TYPE_VEC_H
#define OV_TYPE_TYPE_VEC_H
 
#include "Type.h"
 
namespace ov_type {
 
class Vec : public Type {
 
public:
  Vec(int dim) : Type(dim) {
    _value = Eigen::VectorXd::Zero(dim);
    _fej = Eigen::VectorXd::Zero(dim);
  }
 
  ~Vec() {}
 
  void update(const Eigen::VectorXd &dx) override {
    assert(dx.rows() == _size);
    set_value(_value + dx);
  }
 
  std::shared_ptr<Type> clone() override {
    auto Clone = std::shared_ptr<Type>(new Vec(_size));
    Clone->set_value(value());
    Clone->set_fej(fej());
    return Clone;
  }
};
 
} // namespace ov_type
 
#endif // OV_TYPE_TYPE_VEC_H