SmartProjectionFactor.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * 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/slam/SmartProjectionFactorBase.h>
 
namespace gtsam {

template <class CAMERA>
class SmartProjectionFactor : public SmartProjectionFactorBase<CAMERA> {
 private:
  using Base = SmartProjectionFactorBase<CAMERA>;
  using This = SmartProjectionFactor<CAMERA>;
 
 public:
  using shared_ptr = std::shared_ptr<This>;

  SmartProjectionFactor() = default;

  SmartProjectionFactor(
      const SharedNoiseModel& sharedNoiseModel,
      const SmartProjectionParams& params = SmartProjectionParams())
      : Base(sharedNoiseModel, params) {}

  bool equals(const NonlinearFactor& factor, double tol = 1e-9) const override {
    const auto* other = dynamic_cast<const This*>(&factor);
    return other && Base::equals(factor, tol);
  }
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& archive, const unsigned int /*version*/) {
    archive& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
#endif
};

template <class CAMERA>
struct traits<SmartProjectionFactor<CAMERA>>
    : public Testable<SmartProjectionFactor<CAMERA>> {};
 
}  // namespace gtsam