45 lines
1.0 KiB
C++
45 lines
1.0 KiB
C++
/**
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* @file Value.h
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* @brief Abstract base class for values that can be updated using exmap
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include "Vector.h"
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#include "Testable.h"
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namespace gtsam {
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/**
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* The value class should be templated with the derived class, e.g.
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* class Rot3 : public Value<Rot3>. This allows us to define the
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* return type of exmap as a Rot3 as well.
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*/
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template <class Derived> class Value : public Testable<Derived> {
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private:
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const size_t dim_; // dimensionality of tangent space, e.g. 3 for Rot3
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public:
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Value(size_t dim) : dim_ (dim) {}
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/**
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* dimensionality of tangent space, e.g. 3 for Rot3
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*/
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size_t dim() { return dim_;}
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/**
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* Exponential map: add a delta vector, addition for most simple
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* types, but fully exponential map for types such as Rot3, which
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* takes a 3-dim delta vector to update a 9-dim representation.
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* equality up to tolerance
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*/
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virtual Derived exmap(const Vector& delta) const = 0;
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};
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}
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