ExpressionFactorGraph.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/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
namespace gtsam {
 
class ExpressionFactorGraph: public NonlinearFactorGraph {
 
public:
 
 
  template<typename T>
  void addExpressionFactor(const Expression<T>& h, const T& z,
      const SharedNoiseModel& R) {
    using F = ExpressionFactor<T>;
    push_back(boost::allocate_shared<F>(Eigen::aligned_allocator<F>(), R, z, h));
  }
 
};
 
}