From 255df9cc9d201c047616bdabeb676da1f9487d2e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 22 Jan 2020 18:01:37 +0100
Subject: [PATCH] Add toppology

---
 include/IMU/factor/factor_IMU.h      | 5 +++++
 include/IMU/factor/factor_fix_bias.h | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/include/IMU/factor/factor_IMU.h b/include/IMU/factor/factor_IMU.h
index f2571dadc..3aebd27bd 100644
--- a/include/IMU/factor/factor_IMU.h
+++ b/include/IMU/factor/factor_IMU.h
@@ -25,6 +25,11 @@ class FactorIMU : public FactorAutodiff<FactorIMU, 15, 3, 4, 3, 6, 3, 4, 3, 6>
 
         virtual ~FactorIMU() = default;
 
+        virtual std::string getTopology() const override
+        {
+            return std::string("MOTION");
+        }
+
         /** \brief : compute the residual from the state blocks being iterated by the solver.
             -> computes the expected measurement
             -> corrects actual measurement with new bias
diff --git a/include/IMU/factor/factor_fix_bias.h b/include/IMU/factor/factor_fix_bias.h
index 31f39fba0..191b87d41 100644
--- a/include/IMU/factor/factor_fix_bias.h
+++ b/include/IMU/factor/factor_fix_bias.h
@@ -29,6 +29,11 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
 
         virtual ~FactorFixBias() = default;
 
+        virtual std::string getTopology() const override
+        {
+            return std::string("ABS");
+        }
+
         template<typename T>
         bool operator ()(const T* const _ab, const T* const _wb, T* _residuals) const;
 
-- 
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