edge_se2_pointxy_offset.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// 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_POINT_XY_OFFSET_H_
#define G2O_EDGE_SE2_POINT_XY_OFFSET_H_
 
#include "g2o/core/base_binary_edge.h"
#include "g2o_types_slam2d_api.h"
#include "parameter_se2_offset.h"
#include "vertex_point_xy.h"
#include "vertex_se2.h"
 
namespace g2o {

// first two args are the measurement type, second two the connection classes
class G2O_TYPES_SLAM2D_API EdgeSE2PointXYOffset
    : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE2PointXYOffset();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  void computeError();
  virtual void linearizeOplus();
 
  virtual void setMeasurement(const Vector2& m) { _measurement = m; }
 
  virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector2> v(d);
    _measurement = v;
    return true;
  }
 
  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector2> v(d);
    v = _measurement;
    return true;
  }
 
  virtual int measurementDimension() const { return 3; }
 
  virtual bool setMeasurementFromState();
 
  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
 
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
 
 private:
  ParameterSE2Offset* offsetParam;
  CacheSE2Offset* cache;
  virtual bool resolveCaches();
};
 
}  // namespace g2o
#endif