edge_se2_pointxy_calib.h

Go to the documentation of this file.

// 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_XY_CALIB_H
#define EDGE_SE2_XY_CALIB_H

#include "vertex_se2.h"
#include "vertex_point_xy.h"
#include "g2o/core/base_multi_edge.h"

namespace g2o {

  class EdgeSE2PointXYCalib : public BaseMultiEdge<2, Eigen::Vector2d>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      EdgeSE2PointXYCalib();

      void computeError()
      {
        const VertexSE2* v1     = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
        const VertexSE2* calib  = static_cast<const VertexSE2*>(_vertices[2]);
        _error = ((v1->estimate() * calib->estimate()).inverse() * l2->estimate()) - _measurement;
      }

      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);
  };

}

#endif