sensor_base.h

#ifndef CALICO_SENSORS_SENSOR_BASE_H_
#define CALICO_SENSORS_SENSOR_BASE_H_
 
#include "Eigen/Dense"
#include "absl/container/flat_hash_map.h"
#include "absl/status/status.h"
#include "absl/status/statusor.h"
#include "calico/optimization_utils.h"
#include "calico/trajectory.h"
#include "calico/typedefs.h"
#include "calico/world_model.h"
#include "ceres/problem.h"
 
namespace calico::sensors {
 
class Sensor {
 public:
  virtual ~Sensor() = default;
 
 
  virtual absl::Status UpdateResiduals(ceres::Problem& problem) = 0;
 
  virtual void ClearResidualInfo() = 0;
 
  virtual void SetLossFunction(utils::LossFunctionType loss,
                               double scale = 1.0) = 0;
 
 
  virtual absl::StatusOr<int> AddParametersToProblem(
      ceres::Problem& problem) = 0;
 
 
  virtual absl::StatusOr<int> AddResidualsToProblem(
      ceres::Problem& problem, Trajectory& sensorrig_trajectory,
      WorldModel& world_model) = 0;
 
 
  virtual absl::Status SetMeasurementNoise(double sigma) = 0;
};
}  // namespace calico::sensors
 
#endif  // CALICO_SENSORS_SENSOR_BASE_H_