edge_se2_pointxy.cpp

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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/>.

#include "edge_se2_pointxy.h"
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif

namespace g2o {
  namespace tutorial {

    EdgeSE2PointXY::EdgeSE2PointXY() :
      BaseBinaryEdge<2, Vector2d, VertexSE2, VertexPointXY>()
    {
    }

    bool EdgeSE2PointXY::read(std::istream& is)
    {
      is >> measurement()[0] >> measurement()[1];
      inverseMeasurement() = measurement() * -1;
      is >> information()(0,0) >> information()(0,1) >> information()(1,1);
      information()(1,0) = information()(0,1);
      return true;
    }

    bool EdgeSE2PointXY::write(std::ostream& os) const
    {
      os << measurement()[0] << " " << measurement()[1] << " ";
      os << information()(0,0) << " " << information()(0,1) << " " << information()(1,1);
      return os.good();
    }

} // end namespace
} // end namespace