edge_se2_lotsofxy.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_EDGE_SE2_LOTSOF_XY
#define G2O_EDGE_SE2_LOTSOF_XY
 
#include "g2o/config.h"
#include "g2o/core/base_variable_sized_edge.h"
#include "g2o_types_slam2d_api.h"
#include "vertex_point_xy.h"
#include "vertex_se2.h"
 
namespace g2o {
 
class G2O_TYPES_SLAM2D_API EdgeSE2LotsOfXY
    : public BaseVariableSizedEdge<-1, VectorX> {
 protected:
  unsigned int _observedPoints;
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2LotsOfXY();
 
  void setSize(int vertices) {
    resize(vertices);
    _observedPoints = vertices - 1;
    _measurement.resize(_observedPoints * 2, 1);
    setDimension(_observedPoints * 2);
  }
 
  virtual void computeError();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  virtual bool setMeasurementFromState();
 
  virtual void initialEstimate(const OptimizableGraph::VertexSet&,
                               OptimizableGraph::Vertex*);
  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet&,
                                         OptimizableGraph::Vertex*);
 
  virtual void linearizeOplus();
};
 
}  // end namespace g2o
 
#endif  // G2O_EDGE_SE2_LOTSOF_XY