Method addFactorBase

include/FactorGraph.h:360–415

      template <FactorType CurrentFactorType, typename ErrorType>
      void addFactorBase(StateList &States, ErrorType &NoiseModel, const Data &Measurement, ceres::LossFunction* RobustLoss, const bool DoPrediction)
      {
        /** get index timestamp */
        const double TimestampFirst = States._List.front().Timestamp;

        /** translate the factor type enum to the class that should be added to the graph */
        typedef typename FactorTypeTranslator<CurrentFactorType,ErrorType>::Type FactorClassType;

        /** decide at compile time which parameters are required */
        if constexpr (FactorClassType::HasDeltaTime == true && FactorClassType::HasMeasurement == true)
        {
          /** calculate delta time */
          const double DeltaTime = States._List.back().Timestamp - TimestampFirst;

          addFactorGeneric<ErrorType, FactorClassType> (NoiseModel,
                                                        States._List,
                                                        CurrentFactorType,
                                                        RobustLoss,
                                                        DoPrediction,
                                                        TimestampFirst,
                                                        Measurement,
                                                        DeltaTime);
        }
        else if constexpr (FactorClassType::HasDeltaTime == false && FactorClassType::HasMeasurement == true)
        {
          addFactorGeneric<ErrorType, FactorClassType> (NoiseModel,
                                                        States._List,
                                                        CurrentFactorType,
                                                        RobustLoss,
                                                        DoPrediction,
                                                        TimestampFirst,
                                                        Measurement);
        }
        else if constexpr (FactorClassType::HasDeltaTime == true && FactorClassType::HasMeasurement == false)
        {
          /** calculate delta time */
          const double DeltaTime = States._List.back().Timestamp - TimestampFirst;

          addFactorGeneric<ErrorType, FactorClassType> (NoiseModel,
                                                        States._List,
                                                        CurrentFactorType,
                                                        RobustLoss,
                                                        DoPrediction,
                                                        TimestampFirst,
                                                        DeltaTime);
        }
        else if constexpr (FactorClassType::HasDeltaTime == false && FactorClassType::HasMeasurement == false)
        {
          addFactorGeneric<ErrorType, FactorClassType> (NoiseModel,
                                                        States._List,
                                                        CurrentFactorType,
                                                        RobustLoss,
                                                        DoPrediction,
                                                        TimestampFirst);
        }
      }

      /** default settings for new ceres::Problems, especially enable_fast_removal = true */