From 56945640d6b625b39d971a6f949a3ab329dfcc94 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 22 Jan 2020 18:01:10 +0100
Subject: [PATCH] Add toppology
---
include/laser/factor/factor_container.h | 5 +++++
include/laser/factor/factor_point_2D.h | 5 +++++
include/laser/factor/factor_point_to_line_2D.h | 5 +++++
3 files changed, 15 insertions(+)
diff --git a/include/laser/factor/factor_container.h b/include/laser/factor/factor_container.h
index 0d6b4b15a..13cd114f7 100644
--- a/include/laser/factor/factor_container.h
+++ b/include/laser/factor/factor_container.h
@@ -45,6 +45,11 @@ class FactorContainer: public FactorAutodiff<FactorContainer,3,2,1,2,1>
virtual ~FactorContainer() = default;
+ virtual std::string getTopology() const override
+ {
+ return std::string("LMK");
+ }
+
LandmarkContainerPtr getLandmark()
{
return lmk_ptr_.lock();
diff --git a/include/laser/factor/factor_point_2D.h b/include/laser/factor/factor_point_2D.h
index 817891d99..263b561ae 100644
--- a/include/laser/factor/factor_point_2D.h
+++ b/include/laser/factor/factor_point_2D.h
@@ -42,6 +42,11 @@ class FactorPoint2D: public FactorAutodiff<FactorPoint2D, 2,2,1,2,1,2>
virtual ~FactorPoint2D() = default;
+ virtual std::string getTopology() const override
+ {
+ return std::string("LMK");
+ }
+
/**
* @brief getLandmarkPtr
* @return
diff --git a/include/laser/factor/factor_point_to_line_2D.h b/include/laser/factor/factor_point_to_line_2D.h
index fd7f25c73..f4e48afae 100644
--- a/include/laser/factor/factor_point_to_line_2D.h
+++ b/include/laser/factor/factor_point_to_line_2D.h
@@ -44,6 +44,11 @@ class FactorPointToLine2D: public FactorAutodiff<FactorPointToLine2D, 1,2,1,2,1,
virtual ~FactorPointToLine2D() = default;
+ virtual std::string getTopology() const override
+ {
+ return std::string("GEOM");
+ }
+
LandmarkPolyline2DPtr getLandmark()
{
return std::static_pointer_cast<LandmarkPolyline2D>( landmark_other_ptr_.lock() );
--
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