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 #ifndef TUTORIAL_VERTEX_SE2_H 00018 #define TUTORIAL_VERTEX_SE2_H 00019 00020 #include "g2o/core/base_vertex.h" 00021 #include "g2o/core/hyper_graph_action.h" 00022 #include "se2.h" 00023 00024 namespace g2o { 00025 namespace tutorial { 00026 00030 class VertexSE2 : public BaseVertex<3, SE2> 00031 { 00032 public: 00033 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00034 VertexSE2(); 00035 00036 virtual void setToOrigin() { 00037 _estimate=SE2(); 00038 } 00039 00040 virtual void oplus(double* update) 00041 { 00042 SE2 up(update[0], update[1], update[2]); 00043 _estimate *= up; 00044 } 00045 00046 virtual bool read(std::istream& is); 00047 virtual bool write(std::ostream& os) const; 00048 00049 }; 00050 00051 } // end namespace 00052 } // end namespace 00053 00054 #endif