vertex_point_xy.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 TUTORIAL_VERTEX_POINT_XY_H
#define TUTORIAL_VERTEX_POINT_XY_H

#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"

#include <Eigen/Core>

namespace g2o {
  namespace tutorial {

    class VertexPointXY : public BaseVertex<2, Eigen::Vector2d>
    {
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
          VertexPointXY();

        virtual void setToOrigin() {
          _estimate.setZero();
        }

        virtual void oplus(double* update)
        {
          _estimate[0] += update[0];
          _estimate[1] += update[1];
        }

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

    };

  }
}

#endif