2009-12-18 05:23:50 +08:00
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/**
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2010-01-08 23:32:45 +08:00
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* @file Pose3Factor.H
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* @authors Frank Dellaert, Viorela Ila
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**/
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2009-12-18 05:23:50 +08:00
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#pragma once
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#include <map>
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#include "Pose3.h"
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2010-01-10 22:59:39 +08:00
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#include "LieConfig.h"
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#include "BetweenFactor.h"
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2009-12-18 05:23:50 +08:00
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namespace gtsam {
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2010-01-10 21:55:55 +08:00
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/**
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* A config specifically for 3D poses
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*/
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2010-01-10 22:59:39 +08:00
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typedef LieConfig<Pose3> Pose3Config;
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2009-12-18 05:23:50 +08:00
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2010-01-10 21:55:55 +08:00
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/**
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* A Factor for 3D pose measurements
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* This is just a typedef now
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*/
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2010-01-08 23:32:45 +08:00
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typedef BetweenFactor<Pose3, Pose3Config> Pose3Factor;
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2009-12-18 05:23:50 +08:00
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2010-01-08 23:32:45 +08:00
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} /// namespace gtsam
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