SmartSemanticBearingRangeFactor.h

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#pragma once
 
#include <vector>
 
#include "dcsam/SemanticBearingRangeFactor.h"
 
namespace dcsam {
 
class SmartSemanticBearingRangeFactor : public SemanticBearingRangeFactor {
 public:
  using Base = SemanticBearingRangeFactor;
 
  SmartSemanticBearingRangeFactor() = default;
 
  SmartSemanticBearingRangeFactor(const gtsam::DiscreteKey& dk,
                           const std::vector<double> probs)
      : Base(dk, probs) {}
 
  void updateProbs(const std::vector<double>& probs) {
    assert(probs.size() == probs_.size());
    probs_ = probs;
  }
};
 
}  // namespace dcsam