42 using shared_ptr =
typename boost::shared_ptr<BinaryMeasurement>;
51 :
Factor(std::vector<Key>({key1, key2})),
61 Key key1()
const {
return keys_[0]; }
62 Key key2()
const {
return keys_[1]; }
63 const T &measured()
const {
return measured_; }
71 DefaultKeyFormatter)
const override {
72 std::cout << s <<
"BinaryMeasurement(" << keyFormatter(this->key1()) <<
","
73 << keyFormatter(this->key2()) <<
")\n";
75 this->noiseModel_->print(
" noise model: ");
83 noiseModel_->equals(*expected.noiseModel());
Concept check for values that can be used in unit tests.
The base class for all factors.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
noiseModel::Base::shared_ptr SharedNoiseModel
Aliases.
Definition NoiseModel.h:724
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A testable concept check that should be placed in applicable unit tests and in generic algorithms.
Definition Testable.h:58
Template to create a binary predicate.
Definition Testable.h:111
KeyVector keys_
The keys involved in this factor.
Definition Factor.h:85
Factor()
Default constructor for I/O.
Definition Factor.h:91
bool equals(const This &other, double tol=1e-9) const
check equality
Definition Factor.cpp:42
Definition BinaryMeasurement.h:36
void print(const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print
Definition BinaryMeasurement.h:70
virtual ~BinaryMeasurement()
Destructor.
Definition BinaryMeasurement.h:56