| 204 | } |
| 205 | |
| 206 | void FactorGraphStructure::getErrorModels(const FactorType Type, std::vector<ErrorModelBase*> &Models) const |
| 207 | { |
| 208 | /**get IDs */ |
| 209 | std::vector<FactorID> Factors; |
| 210 | this->getFactorIDs(Type, Factors); |
| 211 | |
| 212 | /** translate to models */ |
| 213 | for(auto const &Factor: Factors) |
| 214 | { |
| 215 | ErrorModelBase* Model; |
| 216 | this->getErrorModel(Factor, Model); |
| 217 | Models.push_back(Model); |
| 218 | } |
| 219 | } |
| 220 | |
| 221 | void FactorGraphStructure::getResidualIDs(const FactorType Type, std::vector<ceres::ResidualBlockId> &Blocks) const |
| 222 | { |
no test coverage detected