landmark_base.h File Reference

#include "core/common/wolf.h"
#include "core/common/node_state_blocks.h"
#include "core/common/time_stamp.h"
#include "core/landmark/factory_landmark.h"
#include "yaml-schema-cpp/yaml_server.hpp"
#include "core/map/map_base.h"
#include "core/factor/factor_base.h"
#include "core/state_block/state_block.h"

Go to the source code of this file.

Classes
class	wolf::LandmarkBase

Namespaces
namespace	wolf

Macros
#define	WOLF_LANDMARK_CREATE(LandmarkClass)
#define	WOLF_LANDMARK_TEMPLATE_DIM_CREATE(LandmarkClass, Dim)

Macro Definition Documentation

WOLF_LANDMARK_CREATE

#define WOLF_LANDMARK_CREATE

(

LandmarkClass

)

Value:

    static LandmarkBasePtr create(const YAML::Node& _node, const std::vector<std::string>& _folders_schema = {})      \
    {                                                                                                                 \
        if (not _folders_schema.empty())                                                                              \
        {                                                                                                             \
            auto server = yaml_schema_cpp::YamlServer(_folders_schema);                                               \
            server.setYaml(_node);                                                                                    \
            if (not server.applySchema(#LandmarkClass))                                                               \
            {                                                                                                         \
                WOLF_ERROR(server.getLog());                                                                          \
                return nullptr;                                                                                       \
            }                                                                                                         \
            std::shared_ptr<LandmarkClass> lmk(new LandmarkClass(server.getNode()));                                  \
            lmk->emplacePriors();                                                                                     \
            return lmk;                                                                                               \
        }                                                                                                             \
        std::shared_ptr<LandmarkClass> lmk(new LandmarkClass(_node));                                                 \
        lmk->emplacePriors();                                                                                         \
        return lmk;                                                                                                   \
    }

WOLF_LANDMARK_TEMPLATE_DIM_CREATE

#define WOLF_LANDMARK_TEMPLATE_DIM_CREATE	(		LandmarkClass,
			Dim
	)

Value:

    static LandmarkBasePtr create(const YAML::Node& _node, const std::vector<std::string>& _folders_schema = {})      \
    {                                                                                                                 \
        if (not _folders_schema.empty())                                                                              \
        {                                                                                                             \
            auto server = yaml_schema_cpp::YamlServer(_folders_schema);                                               \
            server.setYaml(_node);                                                                                    \
            if (not server.applySchema(#LandmarkClass + std::to_string(Dim) + "d"))                                   \
            {                                                                                                         \
                WOLF_ERROR(server.getLog());                                                                          \
                return nullptr;                                                                                       \
            }                                                                                                         \
            std::shared_ptr<LandmarkClass<Dim>> lmk(new LandmarkClass<Dim>(server.getNode()));                        \
            lmk->emplacePriors();                                                                                     \
            return lmk;                                                                                               \
        }                                                                                                             \
        std::shared_ptr<LandmarkClass<Dim>> lmk(new LandmarkClass<Dim>(_node));                                       \
        lmk->emplacePriors();                                                                                         \
        return lmk;                                                                                                   \
    }