From 98cc54e0fd44cd97f0eca95f2f4b7dbe1ae4f25a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 27 Sep 2022 12:15:36 +0200
Subject: [PATCH] Add getTopologyString() method
---
include/core/factor/factor_base.h | 25 +++++++++++++++++++++++++
1 file changed, 25 insertions(+)
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 1894148de..0ca91c9c6 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -123,6 +123,31 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
return topology_;
}
+ std::string getTopologyString() const
+ {
+ switch (topology_)
+ {
+ case TOP_GEOM:
+ return "GEOM";
+ break;
+ case TOP_ABS:
+ return "ABS";
+ break;
+ case TOP_LMK:
+ return "LMK";
+ break;
+ case TOP_LOOP:
+ return "LOOP";
+ break;
+ case TOP_OTHER:
+ return "OTHER";
+ break;
+ default:
+ return "UNDEFINED";
+ }
+ }
+
+
/** \brief Evaluate the factor given the input parameters and returning the residuals and jacobians
**/
virtual bool evaluate(double const* const* _parameters, double* _residuals, double** _jacobians) const = 0;
--
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