27 lines
534 B
C++
27 lines
534 B
C++
/*
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* @file NonlinearEquality.h
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* @brief Factor to handle enforced equality between factors
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* @author Alex Cunningham
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*/
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#pragma once
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#include "NonlinearFactor.h"
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namespace gtsam {
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/**
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* An equality factor that forces either one variable to a constant,
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* or a set of variables to be equal to each other.
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* Throws an error at linearization if the constraints are not met.
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*/
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template<class Config>
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class NonlinearEquality : public NonlinearFactor<Config>{
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public:
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NonlinearEquality();
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virtual ~NonlinearEquality();
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};
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}
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