Merge branch '10-add-factor-topology' into 'devel'

Resolve "Add factor topology"

Closes #10

See merge request !13

include/gnss/factor/factor_gnss_fix_2D.h

@@ -42,6 +42,11 @@ class FactorGnssFix2D : public FactorAutodiff<FactorGnssFix2D, 3, 2, 1, 3, 3, 1,
 
         virtual ~FactorGnssFix2D() = default;
 
+        virtual std::string getTopology() const override
+        {
+            return std::string("ABS");
+        }
+
         template<typename T>
         bool operator ()(const T* const _x,
                          const T* const _o,

include/gnss/factor/factor_gnss_fix_3D.h

@@ -41,6 +41,11 @@ class FactorGnssFix3D : public FactorAutodiff<FactorGnssFix3D, 3, 3, 4, 3, 3, 1,
 
         virtual ~FactorGnssFix3D() = default;
 
+        virtual std::string getTopology() const override
+        {
+            return std::string("ABS");
+        }
+
         template<typename T>
         bool operator ()(const T* const _x,
                          const T* const _o,

include/gnss/factor/factor_gnss_single_diff_2D.h

@@ -43,6 +43,11 @@ class FactorGnssSingleDiff2D : public FactorAutodiff<FactorGnssSingleDiff2D, 3,
 
         virtual ~FactorGnssSingleDiff2D() = default;
 
+        virtual std::string getTopology() const override
+        {
+            return std::string("MOTION");
+        }
+
         template<typename T>
         bool operator ()(const T* const _x1,
                          const T* const _o1,