factor_adder.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef FACTOR_ADDERS_FACTOR_ADDER_H_
#define FACTOR_ADDERS_FACTOR_ADDER_H_
 
#include <factor_adders/factor_adder_params.h>
#include <localization_common/time.h>
 
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
#include <boost/serialization/serialization.hpp>
 
#include <vector>
 
namespace factor_adders {
// Adds factors to a graph. Base class for measurement-based factor adder.
class FactorAdder {
 public:
  explicit FactorAdder(const FactorAdderParams& params) : params_(params) {}
 
  // Default constructor for serialization only
  FactorAdder() = default;
 
  virtual ~FactorAdder() = default;
 
  // Add factors in valid time range to existing factor graph.
  // Returns number of added factors.
  virtual int AddFactors(const localization_common::Time oldest_allowed_time,
                         const localization_common::Time newest_allowed_time, gtsam::NonlinearFactorGraph& factors) = 0;
 
 protected:
  FactorAdderParams params_;
 
 private:
  // Serialization function
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int file_version) {
    ar& BOOST_SERIALIZATION_NVP(params_);
  }
};
}  // namespace factor_adders
 
#endif  // FACTOR_ADDERS_FACTOR_ADDER_H_