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release/4.3a0
Frank Dellaert 2010-07-01 20:50:37 +00:00
parent 41735ff9d7
commit 782eeb0bde
1 changed files with 6 additions and 1 deletions
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7
cpp/PriorFactor.h
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@ -13,7 +13,12 @@ namespace gtsam {
/**
* A class for a soft prior on any Lie type
* T is the Lie group type, Config where the T's are gotten from
* It takes three template parameters:
* T is the Lie group type for which the prior is define
* Key (typically TypedSymbol) is used to look up T's in a Config
* Config where the T's are stored, typically LieConfig<Key,T> or a TupleConfig<...>
* The Key type is not arbitrary: we need to cast to a Symbol at linearize, so
* a simple type like int will not work
*/
template<class Config, class Key, class T>
class PriorFactor: public NonlinearFactor1<Config, Key, T> {