edge_se2_xyprior.cpp

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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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#include "edge_se2_xyprior.h"
 
namespace g2o {
 
EdgeSE2XYPrior::EdgeSE2XYPrior()
    : BaseUnaryEdge<2, Vector2, g2o::VertexSE2>() {}
 
bool EdgeSE2XYPrior::read(std::istream& is) {
  internal::readVector(is, _measurement);
  readInformationMatrix(is);
  return true;
}
 
bool EdgeSE2XYPrior::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}
 
void EdgeSE2XYPrior::linearizeOplus() { _jacobianOplusXi << 1, 0, 0, 0, 1, 0; }
 
}  // namespace g2o