TOAFactor.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

 * -------------------------------------------------------------------------- */

#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam_unstable/geometry/Event.h>

namespace gtsam {

class TOAFactor: public ExpressionFactor<double> {

  typedef Expression<double> Double_;

public:

  TOAFactor(const Expression<Event>& eventExpression,
      const Expression<Point3>& microphone_, double toaMeasurement,
      const SharedNoiseModel& model) :
      ExpressionFactor<double>(model, toaMeasurement,
          Double_(&Event::toa, eventExpression, microphone_)) {
  }

};

} //\ namespace gtsam