KernelBase.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/base/OptionalJacobian.h>
 
#include <cstddef>
 
namespace gtsam {

class KernelBase {
 public:
  virtual double evaluate(double t, OptionalJacobian<1, 1> H = {}) const = 0;

  virtual double evaluateDerivative(size_t derivative, double t,
                                    OptionalJacobian<1, 1> H = {}) const = 0;

  virtual double getBeginning() const = 0;

  virtual double getCenter() const = 0;

  virtual double getEnd() const = 0;

  virtual size_t getValidDerivatives() const = 0;

  double getLength() const { return getEnd() - getBeginning(); }

  virtual ~KernelBase() = default;
};
 
}  // namespace gtsam