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clone methods

release/4.3a0
Frank Dellaert 2013-12-23 01:05:39 -05:00
parent 5f6f4ac05a
commit 2778f2fe39
1 changed files with 12 additions and 0 deletions
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12
gtsam/slam/RotateFactor.h
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@ -25,6 +25,7 @@ class RotateFactor: public NoiseModelFactor1<Rot3> {
Point3 p_, z_; ///< Predicted and measured directions, p = iRc * z Point3 p_, z_; ///< Predicted and measured directions, p = iRc * z
typedef NoiseModelFactor1<Rot3> Base; typedef NoiseModelFactor1<Rot3> Base;
typedef RotateFactor This;
public: public:
@ -34,6 +35,11 @@ public:
Base(model, key), p_(Rot3::Logmap(P)), z_(Rot3::Logmap(Z)) { Base(model, key), p_(Rot3::Logmap(P)), z_(Rot3::Logmap(Z)) {
} }
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
/// print /// print
virtual void print(const std::string& s = "", virtual void print(const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
@ -63,6 +69,7 @@ class RotateDirectionsFactor: public NoiseModelFactor1<Rot3> {
Sphere2 p_, z_; ///< Predicted and measured directions, p = iRc * z Sphere2 p_, z_; ///< Predicted and measured directions, p = iRc * z
typedef NoiseModelFactor1<Rot3> Base; typedef NoiseModelFactor1<Rot3> Base;
typedef RotateDirectionsFactor This;
public: public:
@ -72,6 +79,11 @@ public:
Base(model, key), p_(p), z_(z) { Base(model, key), p_(p), z_(z) {
} }
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
/// print /// print
virtual void print(const std::string& s = "", virtual void print(const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {