53 lines
1.4 KiB
C
53 lines
1.4 KiB
C
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file ConstrainedFactor.h
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* @brief
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* @author Duy-Nguyen Ta
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* @date Sep 30, 2013
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*/
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#pragma once
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#include <gtsam/base/types.h>
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#include <boost/shared_ptr.hpp>
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namespace gtsam {
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/**
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* A base class for all ConstrainedFactor factors,
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* containing additional information for the constraint,
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* e.g., a unique key for the dual variable associated with it,
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* and special treatments for nonlinear constraint linearization in SQP.
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*
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* Derived classes of ConstrainedFactor should also inherit from
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* NoiseModelFactorX to reuse the normal linearization procedure in NonlinearFactor
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*/
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class ConstrainedFactor {
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protected:
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Key dualKey_; //!< Unique key for the dual variable associated with this constraint
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public:
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typedef boost::shared_ptr<ConstrainedFactor> shared_ptr;
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public:
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/// Construct with dual key
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ConstrainedFactor(Key dualKey) : dualKey_(dualKey) {}
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/// Return the dual key
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Key dualKey() const { return dualKey_; }
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};
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} /* namespace gtsam */
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