gtsam/cpp/Value.h

50 lines
1.1 KiB
C++

/**
* @file Value.h
* @brief Abstract base class for values that can be updated using exmap
* @author Frank Dellaert
*/
// \callgraph
#pragma once
#include "Vector.h"
namespace gtsam {
/**
* The value class should be templated with the derived class, e.g.
* class Rot3 : public Value<rot3>. This allows us to define the
* return type of exmap as a Rot3 as well.
*/
template <class Derived> class Value {
private:
const size_t dim_; // dimensionality of tangent space, e.g. 3 for Rot3
public:
Value(size_t dim) : dim_ (dim) {}
/**
* dimensionality of tangent space, e.g. 3 for Rot3
*/
size_t dim() { return dim_;}
/**
* print
* @param s optional string naming the factor
*/
virtual void print(const std::string& s="") const = 0;
/**
* Exponential map: add a delta vector, addition for most simple
* types, but fully exponential map for types such as Rot3, which
* takes a 3-dim delta vector to update a 9-dim representation.
* equality up to tolerance
*/
virtual Derived exmap(const Vector& delta) const = 0;
};
}