edge_se3_calib.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_EDGE_SE3_CALIB_H
#define G2O_EDGE_SE3_CALIB_H
 
#include "g2o/core/base_variable_sized_edge.h"
#include "g2o/types/slam3d/isometry3d_mappings.h"
#include "g2o/types/slam3d/vertex_se3.h"
#include "g2o_types_slam3d_addons_api.h"
 
namespace g2o {
class EdgeSE3Calib
    : public BaseVariableSizedEdge<6, Isometry3>  // Avoid redefinition of
                                                  // BaseEdge in MSVC
{
 public:
  G2O_TYPES_SLAM3D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      G2O_TYPES_SLAM3D_ADDONS_API
      EdgeSE3Calib();
 
  G2O_TYPES_SLAM3D_ADDONS_API void computeError();
  G2O_TYPES_SLAM3D_ADDONS_API virtual bool read(std::istream& is);
  G2O_TYPES_SLAM3D_ADDONS_API virtual bool write(std::ostream& os) const;
};
 
}  // namespace g2o
 
#endif