00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #include "vertex_point_xy.h" 00018 #ifdef __APPLE__ 00019 #include <OpenGL/gl.h> 00020 #else 00021 #include <GL/gl.h> 00022 #endif 00023 #include <typeinfo> 00024 00025 namespace g2o { 00026 namespace tutorial { 00027 00028 VertexPointXY::VertexPointXY() : 00029 BaseVertex<2, Vector2d>() 00030 { 00031 _estimate.setZero(); 00032 } 00033 00034 bool VertexPointXY::read(std::istream& is) 00035 { 00036 is >> estimate()[0] >> estimate()[1]; 00037 return true; 00038 } 00039 00040 bool VertexPointXY::write(std::ostream& os) const 00041 { 00042 os << estimate()(0) << " " << estimate()(1); 00043 return os.good(); 00044 } 00045 00046 } // end namespace 00047 } // end namespace