gtsam  4.1.0
gtsam
DummyFactor.h
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1 
10 #pragma once
11 
12 #include <gtsam_unstable/dllexport.h>
14 
15 namespace gtsam {
16 
17 class GTSAM_UNSTABLE_EXPORT DummyFactor : public NonlinearFactor {
18 protected:
19 
20  // Store the dimensions of the variables and the dimension of the full system
21  std::vector<size_t> dims_;
22  size_t rowDim_;
23 
24 public:
25 
27  DummyFactor() : rowDim_(1) { }
28 
30  DummyFactor(const Key& key1, size_t dim1, const Key& key2, size_t dim2);
31 
32  virtual ~DummyFactor() {}
33 
34  // testable
35 
37  void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
38 
40  bool equals(const NonlinearFactor& f, double tol = 1e-9) const override;
41 
42  // access
43 
44  const std::vector<size_t>& dims() const { return dims_; }
45 
46  // factor interface
47 
51  double error(const Values& c) const override { return 0.0; }
52 
54  size_t dim() const override { return rowDim_; }
55 
57  boost::shared_ptr<GaussianFactor> linearize(const Values& c) const override;
58 
65  NonlinearFactor::shared_ptr clone() const override {
66  return boost::static_pointer_cast<NonlinearFactor>(
67  NonlinearFactor::shared_ptr(new DummyFactor(*this)));
68  }
69 
70 };
71 
72 } // \namespace gtsam
73 
74 
75 
76 
gtsam::DummyFactor::error
double error(const Values &c) const override
Calculate the error of the factor - zero for dummy factors.
Definition: DummyFactor.h:51
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:61
gtsam::DummyFactor::clone
NonlinearFactor::shared_ptr clone() const override
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.
Definition: DummyFactor.h:65
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::DummyFactor::DummyFactor
DummyFactor()
Default constructor: don't use directly.
Definition: DummyFactor.h:27
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:155
gtsam::NonlinearFactor
Nonlinear factor base class.
Definition: NonlinearFactor.h:43
NonlinearFactor.h
Non-linear factor base classes.
gtsam::DummyFactor::rowDim_
size_t rowDim_
choose dimension for the rows
Definition: DummyFactor.h:22
gtsam::KeyFormatter
boost::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::DummyFactor
Definition: DummyFactor.h:17
gtsam::Values
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:71
gtsam::DummyFactor::dim
size_t dim() const override
get the dimension of the factor (number of rows on linearization)
Definition: DummyFactor.h:54