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Make default PartialPriorFactor constructor public

release/4.3a0
Varun Agrawal 2024-08-25 04:35:02 -04:00
parent 46765ecfa6
commit bf70087fff
1 changed files with 4 additions and 4 deletions
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8
gtsam_unstable/slam/PartialPriorFactor.h
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@ -50,9 +50,6 @@ namespace gtsam {
Vector prior_; ///< Measurement on tangent space parameters, in compressed form. Vector prior_; ///< Measurement on tangent space parameters, in compressed form.
std::vector<size_t> indices_; ///< Indices of the measured tangent space parameters. std::vector<size_t> indices_; ///< Indices of the measured tangent space parameters.
/** default constructor - only use for serialization */
PartialPriorFactor() {}
/** /**
* constructor with just minimum requirements for a factor - allows more * constructor with just minimum requirements for a factor - allows more
* computation in the constructor. This should only be used by subclasses * computation in the constructor. This should only be used by subclasses
@ -65,7 +62,8 @@ namespace gtsam {
// Provide access to the Matrix& version of evaluateError: // Provide access to the Matrix& version of evaluateError:
using Base::evaluateError; using Base::evaluateError;
~PartialPriorFactor() override {} /** default constructor - only use for serialization */
PartialPriorFactor() {}
/** Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.*/ /** Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.*/
PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) : PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) :
@ -85,6 +83,8 @@ namespace gtsam {
assert(model->dim() == (size_t)prior.size()); assert(model->dim() == (size_t)prior.size());
} }
~PartialPriorFactor() override {}
/// @return a deep copy of this factor /// @return a deep copy of this factor
gtsam::NonlinearFactor::shared_ptr clone() const override { gtsam::NonlinearFactor::shared_ptr clone() const override {
return std::static_pointer_cast<gtsam::NonlinearFactor>( return std::static_pointer_cast<gtsam::NonlinearFactor>(