Add toppology

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

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;