RelativeElevationFactor.h

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#pragma once

#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>

namespace gtsam {

class GTSAM_UNSTABLE_EXPORT RelativeElevationFactor: public NoiseModelFactor2<Pose3, Point3> {
private:

  double measured_; 
  typedef RelativeElevationFactor This;
  typedef NoiseModelFactor2<Pose3, Point3> Base;

public:

  RelativeElevationFactor() : measured_(0.0) {} /* Default constructor */

  RelativeElevationFactor(Key poseKey, Key pointKey, double measured,
      const SharedNoiseModel& model);

  virtual ~RelativeElevationFactor() {}

  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }

  Vector evaluateError(const Pose3& pose, const Point3& point,
      boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const;

  inline double measured() const { return measured_; }

  virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const;

  void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor2",
        boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(measured_);
  }
}; // RelativeElevationFactor


} // \namespace gtsam