35 lines
669 B
C++
35 lines
669 B
C++
/*
|
|
* UrbanFactor.h
|
|
*
|
|
* Created on: Dec 17, 2009
|
|
* Author: Frank Dellaert
|
|
*/
|
|
|
|
#ifndef URBANFACTOR_H_
|
|
#define URBANFACTOR_H_
|
|
|
|
#include "NonlinearFactor.h"
|
|
#include "UrbanConfig.h"
|
|
|
|
namespace gtsam {
|
|
|
|
class UrbanFactor : public NonlinearFactor<UrbanConfig> {
|
|
public:
|
|
UrbanFactor();
|
|
virtual ~UrbanFactor();
|
|
|
|
/** Vector of errors */
|
|
Vector error_vector(const UrbanConfig& c) const { return zero(0); }
|
|
|
|
/** linearize to a GaussianFactor */
|
|
boost::shared_ptr<GaussianFactor> linearize(const UrbanConfig& c) const {
|
|
boost::shared_ptr<GaussianFactor> factor(new GaussianFactor);
|
|
return factor;
|
|
}
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* URBANFACTOR_H_ */
|