edge_se3_prior.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_SE3_PRIOR_H_
#define G2O_EDGE_SE3_PRIOR_H_
 
#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "parameter_se3_offset.h"
#include "vertex_se3.h"
 
namespace g2o {
class G2O_TYPES_SLAM3D_API EdgeSE3Prior
    : public BaseUnaryEdge<6, Isometry3, VertexSE3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3Prior();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  // return the error estimate as a 3-vector
  void computeError();
 
  // jacobian
  virtual void linearizeOplus();
 
  virtual void setMeasurement(const Isometry3& m) {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }
 
  virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector7> v(d);
    _measurement = internal::fromVectorQT(v);
    _inverseMeasurement = _measurement.inverse();
    return true;
  }
 
  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector7> v(d);
    v = internal::toVectorQT(_measurement);
    return true;
  }
 
  virtual int measurementDimension() const { return 7; }
 
  virtual bool setMeasurementFromState();
 
  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& /*from*/,
      OptimizableGraph::Vertex* /*to*/) {
    return 1.;
  }
 
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
 
 protected:
  Isometry3 _inverseMeasurement;
  virtual bool resolveCaches();
  ParameterSE3Offset* _offsetParam;
  CacheSE3Offset* _cache;
};
 
}  // namespace g2o
#endif