From 5eef79c257a1fee2bd2f294bbe0fc61d90ad6659 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 22 Jan 2020 18:01:21 +0100
Subject: [PATCH] Add toppology
---
include/gnss/factor/factor_gnss_fix_2D.h | 5 +++++
include/gnss/factor/factor_gnss_fix_3D.h | 5 +++++
include/gnss/factor/factor_gnss_single_diff_2D.h | 5 +++++
3 files changed, 15 insertions(+)
diff --git a/include/gnss/factor/factor_gnss_fix_2D.h b/include/gnss/factor/factor_gnss_fix_2D.h
index 773a84d8b..5b5e69973 100644
--- a/include/gnss/factor/factor_gnss_fix_2D.h
+++ b/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,
diff --git a/include/gnss/factor/factor_gnss_fix_3D.h b/include/gnss/factor/factor_gnss_fix_3D.h
index c620ee58a..718283179 100644
--- a/include/gnss/factor/factor_gnss_fix_3D.h
+++ b/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,
diff --git a/include/gnss/factor/factor_gnss_single_diff_2D.h b/include/gnss/factor/factor_gnss_single_diff_2D.h
index 3cadfcb24..8f1ca7865 100644
--- a/include/gnss/factor/factor_gnss_single_diff_2D.h
+++ b/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,
--
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