edge_se3_xyzprior.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
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#ifndef RTAB_G2O_EDGE_SE3_PRIOR_XYZ_H
#define RTAB_G2O_EDGE_SE3_PRIOR_XYZ_H

#include "g2o/types/slam3d/vertex_se3.h"
#include "g2o/core/base_unary_edge.h"
#include "g2o/types/slam3d/parameter_se3_offset.h"

namespace rtabmap {

class EdgeSE3XYZPrior : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, g2o::VertexSE3>
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3XYZPrior();

  virtual void setMeasurement(const Eigen::Vector3d& m) {
    _measurement = m;
  }

  virtual bool setMeasurementData(const double * d) {
    Eigen::Map<const Eigen::Vector3d> v(d);
    _measurement = v;
    return true;
  }

  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Eigen::Vector3d> v(d);
    v = _measurement;
    return true;
  }

  virtual int measurementDimension() const {return 3;}

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

  virtual double initialEstimatePossible(const g2o::OptimizableGraph::VertexSet& /*from*/, g2o::OptimizableGraph::Vertex* /*to*/) {return 1.;}
  virtual void initialEstimate(const g2o::OptimizableGraph::VertexSet& /*from_*/, g2o::OptimizableGraph::Vertex* /*to_*/);

  const g2o::ParameterSE3Offset* offsetParameter() { return _offsetParam; }

protected:
  virtual bool resolveCaches();
  g2o::ParameterSE3Offset* _offsetParam;
  g2o::CacheSE3Offset* _cache;
};

}

#endif