Value.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/config.h>      // Configuration from CMake
 
#include <gtsam/base/Vector.h>
#if GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/assume_abstract.hpp>
#endif
#include <memory>
 
namespace gtsam {

  class GTSAM_EXPORT Value {
  public:
    // todo - not sure if valid
    Value() = default;
    Value(const Value& other) = default;

    virtual Value* clone_() const = 0;

    virtual void deallocate_() const = 0;

    virtual std::shared_ptr<Value> clone() const = 0;

    virtual bool equals_(const Value& other, double tol = 1e-9) const = 0;

    virtual void print(const std::string& str = "") const = 0;

    virtual size_t dim() const = 0;

    virtual Value* retract_(const Vector& delta) const = 0;

    virtual Vector localCoordinates_(const Value& value) const = 0;

    virtual Value& operator=(const Value& /*rhs*/) {
      //needs a empty definition so recursion in implicit derived assignment operators work
     return *this;
    }

    template<typename ValueType>
    const ValueType& cast() const;

    virtual ~Value() {}
 
  private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
    }
#endif
 
  };
 
} /* namespace gtsam */
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
#endif