| 299 | /** helper function to create variadic templated cost functions */ |
| 300 | template<int NoiseModelOutputDim, typename FactorClass, int... FactorStateDims, int... ErrorModelStateDims> |
| 301 | auto makeAutoDiffCostFunction(FactorClass *Factor, std::integer_sequence<int, FactorStateDims...>, std::integer_sequence<int, ErrorModelStateDims...>) |
| 302 | { |
| 303 | return new ceres::AutoDiffCostFunction<FactorClass, NoiseModelOutputDim, FactorStateDims... , ErrorModelStateDims...> (Factor); |
| 304 | } |
| 305 | |
| 306 | /** add and remove factors */ |
| 307 | template <typename ErrorType, typename FactorClass, typename... FactorParameters> |
nothing calls this directly
no outgoing calls
no test coverage detected