loc_pose_factor.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 GRAPH_FACTORS_LOC_POSE_FACTOR_H_
#define GRAPH_FACTORS_LOC_POSE_FACTOR_H_
 
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PriorFactor.h>
 
namespace gtsam {
// Allows for differentiation between loc pose factors and other pose priors, perhaps
// added as starting priors or marginalization factors
class LocPoseFactor : public PriorFactor<Pose3> {
 private:
  typedef PriorFactor<Pose3> Base;
 
 public:
  typedef typename boost::shared_ptr<LocPoseFactor> shared_ptr;
 
  LocPoseFactor() {}
 
  virtual ~LocPoseFactor() {}
 
  LocPoseFactor(Key key, const Pose3& prior, const SharedNoiseModel& model = nullptr) : Base(key, prior, model) {}
 
  LocPoseFactor(Key key, const Pose3& prior, const Matrix& covariance) : Base(key, prior, covariance) {}
 
 private:
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
};
}  // namespace gtsam
 
#endif  // GRAPH_FACTORS_LOC_POSE_FACTOR_H_