[2/N] Change NoiseModelFactorN to be an alias to NoiseModelFactorT #2302
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ProfFan
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ProfFan
November 17, 2025 03:48
ProfFan
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Nov 17, 2025
| /** Convenience base class to add aliases `X1`, `X2`, ..., `X6` -> ValueType<N>. | ||
| * Usage example: | ||
| * ``` | ||
| * class MyFactor : public NoiseModelFactorN<Pose3, Point3>, |
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Add the extra argument in the comment
dellaert
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Nov 17, 2025
| }; // \class NoiseModelFactorN | ||
| }; // \class NoiseModelFactorT | ||
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| template <class... ValueTypes> |
| * Usage example: | ||
| * ``` | ||
| * class MyFactor : public NoiseModelFactorN<Pose3, Point3>, | ||
| * class MyFactor : public NoiseModelFactorT<Pose3, Point3>, |
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Change the class comment to reflect new capability.
| * class MyFactor : public NoiseModelFactorT<Vector, Pose3, Point3> { | ||
| * public: | ||
| * using Base = NoiseModelFactorN<Pose3, Point3>; | ||
| * using Base = NoiseModelFactorT<Pose3, Point3>; |
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Adds output argument to NoiseModelFactorN -> NoiseModelFactorT
WIP to enable us ti use fixed output dimension with the NoiseModelFactor, which will save extra copy and allow other things.