35 lines
669 B
C
35 lines
669 B
C
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/*
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* UrbanFactor.h
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*
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* Created on: Dec 17, 2009
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* Author: Frank Dellaert
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*/
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#ifndef URBANFACTOR_H_
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#define URBANFACTOR_H_
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#include "NonlinearFactor.h"
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#include "UrbanConfig.h"
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namespace gtsam {
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class UrbanFactor : public NonlinearFactor<UrbanConfig> {
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public:
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UrbanFactor();
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virtual ~UrbanFactor();
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/** Vector of errors */
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Vector error_vector(const UrbanConfig& c) const { return zero(0); }
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/** linearize to a GaussianFactor */
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boost::shared_ptr<GaussianFactor> linearize(const UrbanConfig& c) const {
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boost::shared_ptr<GaussianFactor> factor(new GaussianFactor);
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return factor;
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}
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};
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}
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#endif /* URBANFACTOR_H_ */
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