edge_se2_prior.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_PRIOR_H
#define EDGE_SE2_PRIOR_H

#include "vertex_se2.h"
#include "g2o/core/base_unary_edge.h"

namespace g2o {

  class EdgeSE2Prior : public BaseUnaryEdge<3, SE2, VertexSE2>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      EdgeSE2Prior();

      void computeError()
      {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        SE2 delta = _inverseMeasurement * v1->estimate();
        _error = delta.toVector();
      }

      virtual bool setMeasurementData(const double* d) {
        _measurement=SE2(d[0], d[1], d[2]);
        _inverseMeasurement = _measurement.inverse();
        return true;
      }

      virtual bool getMeasurementData(double* d) const {
        Vector3d v = _measurement.toVector();
        d[0] = v[0];
        d[1] = v[1];
        d[2] = v[2];
        return true;
      }

      int measurementDimension() const {return 3;}

      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 1.;}
      virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
  };

}

#endif