19 #ifndef NODE_ADDERS_SLIDING_WINDOW_NODE_ADDER_H_
20 #define NODE_ADDERS_SLIDING_WINDOW_NODE_ADDER_H_
25 #include <gtsam/nonlinear/Marginals.h>
26 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
41 const boost::optional<const gtsam::Marginals&>& marginals,
const gtsam::KeyVector& old_keys,
42 const double huber_k, gtsam::NonlinearFactorGraph& factors) = 0;
49 const gtsam::NonlinearFactorGraph& graph)
const = 0;
52 virtual boost::optional<localization_common::Time>
StartTime()
const = 0;
55 virtual boost::optional<localization_common::Time>
EndTime()
const = 0;
59 #endif // NODE_ADDERS_SLIDING_WINDOW_NODE_ADDER_H_