parameter_se2_offset.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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#ifndef G2O_TUTORIAL_PARAMETER_SE2_OFFSET_H
#define G2O_TUTORIAL_PARAMETER_SE2_OFFSET_H
 
#include "g2o/core/cache.h"
#include "g2o_tutorial_slam2d_api.h"
#include "se2.h"
 
namespace g2o {
namespace tutorial {
 
class G2O_TUTORIAL_SLAM2D_API ParameterSE2Offset : public Parameter {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  ParameterSE2Offset();
 
  void setOffset(const SE2& offset = SE2());
 
  const SE2& offset() const { return _offset; }
  const SE2& inverseOffset() const { return _inverseOffset; }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
 protected:
  SE2 _offset;
  SE2 _inverseOffset;
};
 
class G2O_TUTORIAL_SLAM2D_API CacheSE2Offset : public Cache {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 
  const SE2& w2n() const { return _w2n; }
  const SE2& n2w() const { return _n2w; }
 
 protected:
  virtual void updateImpl();
  virtual bool resolveDependencies();
 
  ParameterSE2Offset* _offsetParam;
  SE2 _w2n, _n2w;
};
 
}  // end namespace tutorial
}  // namespace g2o
 
#endif