edge_se2_pointxy_bearing.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef EDGE_SE2_POINT_XY_BEARING_H
#define EDGE_SE2_POINT_XY_BEARING_H

#include "g2o/config.h"
#include "vertex_se2.h"
#include "vertex_point_xy.h"
#include "g2o/core/base_binary_edge.h"

namespace g2o {

  class  EdgeSE2PointXYBearing: public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      EdgeSE2PointXYBearing();
      void computeError()
      {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
        Vector2d delta = (v1->estimate().inverse() * l2->estimate());
        double angle = atan2(delta[1], delta[0]);
        _error[0] = normalize_theta(_measurement - angle );
      }

      virtual bool setMeasurementData(const double* d) {
        _measurement=d[0];
        _inverseMeasurement = -_measurement;
        return true;
      }

      virtual bool getMeasurementData(double* d) const {
        d[0] = _measurement;
        return true;
      }

      int measurementDimension() const {return 1;}

      virtual bool setMeasurementFromState(){
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
        Vector2d delta = (v1->estimate().inverse() * l2->estimate());
        _measurement = atan2(delta[1], delta[0]);
        _inverseMeasurement = - _measurement;
        return true;
      }
      
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      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);
  };

  class EdgeSE2PointXYBearingWriteGnuplotAction: public WriteGnuplotAction {
  public:
    EdgeSE2PointXYBearingWriteGnuplotAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
                                                HyperGraphElementAction::Parameters* params_);
  };

#ifdef G2O_HAVE_OPENGL
  class EdgeSE2PointXYBearingDrawAction: public DrawAction{
  public:
    EdgeSE2PointXYBearingDrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
                                                HyperGraphElementAction::Parameters* params_);
  };
#endif

}

#endif