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Added serialization for two more factors

release/4.3a0
Frank Dellaert 2018-12-30 16:23:43 -05:00
parent 2c8f55a2d8
commit cdf2a6335b
1 changed files with 6 additions and 0 deletions
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6
gtsam.h
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@ -2265,6 +2265,9 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
template<POSE, POINT> template<POSE, POINT>
virtual class RangeFactor : gtsam::NoiseModelFactor { virtual class RangeFactor : gtsam::NoiseModelFactor {
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
// enabling serialization functionality
void serialize() const;
}; };
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2; typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
@ -2281,6 +2284,9 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactor
template<POSE, POINT> template<POSE, POINT>
virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor { virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor {
RangeFactorWithTransform(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel, const POSE& body_T_sensor); RangeFactorWithTransform(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel, const POSE& body_T_sensor);
// enabling serialization functionality
void serialize() const;
}; };
typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Point2> RangeFactorWithTransformPosePoint2; typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Point2> RangeFactorWithTransformPosePoint2;