From 684ccc91b2f832166e8b458957c5bdd9ff9f65f3 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Oct 2011 21:11:39 +0000 Subject: [PATCH] Added constructor for NoiseModelFactor that takes only a noisemodel for subclasses --- gtsam/nonlinear/NonlinearFactor.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index dc01877ac..260bd3940 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -160,6 +160,15 @@ public: this->keys_.insert(this->keys_.end(), beginKeys, endKeys); } +protected: + + /** + * Constructor - only for subclasses, as this does not set keys. + */ + NoiseModelFactor(const SharedNoiseModel& noiseModel) : noiseModel_(noiseModel) {} + +public: + /** Print */ virtual void print(const std::string& s = "") const { std::cout << s << ": NoiseModelFactor\n";