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Add docs on serializing expressions.

release/4.3a0
Jose Luis Blanco Claraco 2020-07-26 08:22:40 +02:00
parent a4b95d273f
commit 8a5097d726
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1 changed files with 7 additions and 2 deletions
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9
gtsam/nonlinear/ExpressionFactor.h
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@ -27,8 +27,13 @@
namespace gtsam { namespace gtsam {
/** /**
* Factor that supports arbitrary expressions via AD.
* Factor that supports arbitrary expressions via AD *
* Arbitrary instances of this template can be directly inserted into a factor
* graph for optimization. However, to enable the correct (de)serialization of
* such instances, the user should declare derived classes from this template,
* implementing expresion(), serialize(), clone(), print(), and defining the
* corresponding `struct traits<NewFactor> : public Testable<NewFactor> {}`.
*/ */
template<typename T> template<typename T>
class ExpressionFactor: public NoiseModelFactor { class ExpressionFactor: public NoiseModelFactor {