diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index b51d4cee4482fad97d3ae94512bf7b5ee69392e3..3807d1210081a90c43562377cf266910aad13b6d 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -107,7 +107,52 @@ class FactorAutodiff : public FactorBase
StateBlockPtr _state9Ptr,
StateBlockPtr _state10Ptr,
StateBlockPtr _state11Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr,
+ _state7Ptr,
+ _state8Ptr,
+ _state9Ptr,
+ _state10Ptr,
+ _state11Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr,
+ StateBlockPtr _state7Ptr,
+ StateBlockPtr _state8Ptr,
+ StateBlockPtr _state9Ptr,
+ StateBlockPtr _state10Ptr,
+ StateBlockPtr _state11Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr,_state10Ptr,_state11Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr,_state10Ptr,_state11Ptr})
{
@@ -413,7 +458,50 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,B10,0> : public Fact
StateBlockPtr _state8Ptr,
StateBlockPtr _state9Ptr,
StateBlockPtr _state10Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr,
+ _state7Ptr,
+ _state8Ptr,
+ _state9Ptr,
+ _state10Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr,
+ StateBlockPtr _state7Ptr,
+ StateBlockPtr _state8Ptr,
+ StateBlockPtr _state9Ptr,
+ StateBlockPtr _state10Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr,_state10Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr,_state10Ptr})
{
@@ -685,7 +773,48 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,B9,0,0> : public Factor
StateBlockPtr _state7Ptr,
StateBlockPtr _state8Ptr,
StateBlockPtr _state9Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr,
+ _state7Ptr,
+ _state8Ptr,
+ _state9Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr,
+ StateBlockPtr _state7Ptr,
+ StateBlockPtr _state8Ptr,
+ StateBlockPtr _state9Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr})
{
@@ -947,7 +1076,46 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,B8,0,0,0> : public FactorB
StateBlockPtr _state6Ptr,
StateBlockPtr _state7Ptr,
StateBlockPtr _state8Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr,
+ _state7Ptr,
+ _state8Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr,
+ StateBlockPtr _state7Ptr,
+ StateBlockPtr _state8Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr})
{
@@ -1199,7 +1367,44 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,B7,0,0,0,0> : public FactorBa
StateBlockPtr _state5Ptr,
StateBlockPtr _state6Ptr,
StateBlockPtr _state7Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr,
+ _state7Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr,
+ StateBlockPtr _state7Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr})
{
@@ -1440,7 +1645,42 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,B6,0,0,0,0,0> : public FactorBas
StateBlockPtr _state4Ptr,
StateBlockPtr _state5Ptr,
StateBlockPtr _state6Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr,
+ _state6Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr,
+ StateBlockPtr _state6Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr})
{
@@ -1671,7 +1911,40 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,B5,0,0,0,0,0,0> : public FactorBase
StateBlockPtr _state3Ptr,
StateBlockPtr _state4Ptr,
StateBlockPtr _state5Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr,
+ _state5Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr,
+ StateBlockPtr _state5Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr})
{
@@ -1887,7 +2160,38 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,B4,0,0,0,0,0,0,0> : public FactorBase
StateBlockPtr _state2Ptr,
StateBlockPtr _state3Ptr,
StateBlockPtr _state4Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr,
+ _state4Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr,
+ StateBlockPtr _state4Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr})
{
@@ -2093,7 +2397,36 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,B3,0,0,0,0,0,0,0,0> : public FactorBase
StateBlockPtr _state1Ptr,
StateBlockPtr _state2Ptr,
StateBlockPtr _state3Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr,
+ _state3Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr,
+ StateBlockPtr _state3Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr})
{
@@ -2293,7 +2626,34 @@ class FactorAutodiff<FacT,RES,B0,B1,B2,0,0,0,0,0,0,0,0,0> : public FactorBase
StateBlockPtr _state0Ptr,
StateBlockPtr _state1Ptr,
StateBlockPtr _state2Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr,
+ _state2Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr,
+ StateBlockPtr _state2Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr,_state2Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr,_state2Ptr})
{
@@ -2483,7 +2843,32 @@ class FactorAutodiff<FacT,RES,B0,B1,0,0,0,0,0,0,0,0,0,0> : public FactorBase
FactorStatus _status,
StateBlockPtr _state0Ptr,
StateBlockPtr _state1Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr,
+ _state1Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr,
+ StateBlockPtr _state1Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr,_state1Ptr}),
state_ptrs_const_({_state0Ptr,_state1Ptr})
{
@@ -2662,7 +3047,30 @@ class FactorAutodiff<FacT,RES,B0,0,0,0,0,0,0,0,0,0,0,0> : public FactorBase
bool _apply_loss_function,
FactorStatus _status,
StateBlockPtr _state0Ptr) :
- FactorBase(_tp, _top, _feature_ptr, _frame_other_ptr, _capture_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
+ FactorAutodiff(_tp,
+ _top,
+ _feature_ptr,
+ FrameBasePtrList({_frame_other_ptr}),
+ CaptureBasePtrList({_capture_other_ptr}),
+ FeatureBasePtrList({_feature_other_ptr}),
+ LandmarkBasePtrList({_landmark_other_ptr}),
+ _processor_ptr,
+ _apply_loss_function,
+ _status,
+ _state0Ptr){}
+
+ FactorAutodiff(const std::string& _tp,
+ const FactorTopology& _top,
+ const FeatureBasePtr& _feature_ptr,
+ const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status,
+ StateBlockPtr _state0Ptr) :
+ FactorBase(_tp, _top, _feature_ptr, _frame_other_list, _capture_other_list, _feature_other_list, _landmark_other_list, _processor_ptr, _apply_loss_function, _status),
state_ptrs_({_state0Ptr}),
state_ptrs_const_({_state0Ptr})
{