text: /*
   * PointPlaneFactor.cpp
   *
   *  Created on: Feb 20, 2018
   *      Author: Antoni Rosinol
   */
  
  #include "kimera-vio/factors/PointPlaneFactor.h"
  
  using namespace std;
  
  namespace gtsam {
  
  //***************************************************************************
  void PointPlaneFactor::print(const string& s,
                               const KeyFormatter& keyFormatter) const {
    std::cout << s << " Factor on point " << keyFormatter(pointKey_)
              << ", and plane " << keyFormatter(planeKey_) << "\n";
    this->noiseModel_->print("  noise model: ");
  }
  
  gtsam::NonlinearFactor::shared_ptr PointPlaneFactor::clone() const {
    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new PointPlaneFactor(*this)));
  }
  
  }  // namespace gtsam
  