vertex_pose.h

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 *
 * Software License Agreement (BSD License)
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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * Notes:
 * The following class is derived from a class defined by the
 * g2o-framework. g2o is licensed under the terms of the BSD License.
 * Refer to the base class source for detailed licensing information.
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 * Author: Christoph Rösmann
 *********************************************************************/

#ifndef VERTEX_POSE_H_
#define VERTEX_POSE_H_

#include <g2o/config.h>
#include <g2o/core/base_vertex.h>
#include <g2o/core/hyper_graph_action.h>
#include <g2o/stuff/misc.h>

#include <teb_local_planner/pose_se2.h>

namespace teb_local_planner
{

class VertexPose : public g2o::BaseVertex<3, PoseSE2 >
{
public:

  VertexPose(bool fixed = false)
  {
    setToOriginImpl();
    setFixed(fixed);
  }
  
  VertexPose(const PoseSE2& pose, bool fixed = false)
  {
    _estimate = pose;
    setFixed(fixed);
  }
  
  VertexPose(const Eigen::Ref<const Eigen::Vector2d>& position, double theta, bool fixed = false)
  {
    _estimate.position() = position;
    _estimate.theta() = theta;
    setFixed(fixed);
  }
  
  VertexPose(double x, double y, double theta, bool fixed = false)
  {
    _estimate.x() = x;
    _estimate.y() = y;
    _estimate.theta() = theta;
    setFixed(fixed);
  }
  
  ~VertexPose() {}
  
  PoseSE2& pose() {return _estimate;}
  
  const PoseSE2& pose() const {return _estimate;}
          
  
  Eigen::Vector2d& position() {return _estimate.position();}

  const Eigen::Vector2d& position() const {return _estimate.position();}
  
  double& x() {return _estimate.x();}
  
  const double& x() const {return _estimate.x();}
  
  double& y() {return _estimate.y();}
  
  const double& y() const {return _estimate.y();}
  
  double& theta() {return _estimate.theta();}
  
  const double& theta() const {return _estimate.theta();}
  
  virtual void setToOriginImpl()
  {
    _estimate.setZero();
  }

  virtual void oplusImpl(const double* update)
  {
    _estimate.plus(update);
  }

  virtual bool read(std::istream& is)
  {
    is >> _estimate.x() >> _estimate.y() >> _estimate.theta();
    return true;
  }

  virtual bool write(std::ostream& os) const
  {
    os << _estimate.x() << " " << _estimate.y() << _estimate.theta();
    return os.good();
  }

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  
};

}

#endif // VERTEX_POSE_H_