vertex_timediff.h

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 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  Redistribution and use in source and binary forms, with or without
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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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.
 *
 * Author: Christoph Rösmann
 *********************************************************************/

#ifndef VERTEX_TIMEDIFF_H
#define VERTEX_TIMEDIFF_H


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

#include "ros/console.h"

#include <Eigen/Core>

namespace teb_local_planner
{

class VertexTimeDiff : public g2o::BaseVertex<1, double>
{
public:

  VertexTimeDiff(bool fixed = false)
  {
    setToOriginImpl();
    setFixed(fixed);
  }
  
  VertexTimeDiff(double dt, bool fixed = false)
  {
    _estimate = dt;
    setFixed(fixed);
  }

  ~VertexTimeDiff()
  {}

  double& dt() {return _estimate;}
  
  const double& dt() const {return _estimate;}
  
  virtual void setToOriginImpl()
  {
    _estimate = 0.1;
  }

  virtual void oplusImpl(const double* update)
  {
      _estimate += *update;
  }

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

  virtual bool write(std::ostream& os) const
  {
    os << estimate();
    return os.good();
  }

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}

#endif