edge_xy_prior.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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//
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#ifndef G2O_EDGE_XY_PRIOR_H
#define G2O_EDGE_XY_PRIOR_H
 
#include "g2o/types/slam2d/vertex_point_xy.h"
#include "g2o/config.h"
#include "g2o/core/base_unary_edge.h"
 
namespace g2o {
 
using namespace Eigen;
 
  class EdgeXYPrior : public BaseUnaryEdge<2, Vector2d, VertexPointXY>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        EdgeXYPrior();
 
      void computeError()
      {
        const VertexPointXY* v = static_cast<const VertexPointXY*>(_vertices[0]);
        _error = v->estimate()-_measurement;
      }
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;
 
      virtual void setMeasurement(const Vector2d& m){
        _measurement = m;
      }
 
      virtual bool setMeasurementData(const double* d){
        _measurement=Vector2d(d[0], d[1]);
        return true;
      }
 
      virtual bool getMeasurementData(double* d) const {
        Eigen::Map<Vector2d> m(d);
        m=_measurement;
        return true;
      }
 
      virtual int measurementDimension() const {return 2;}
 
      virtual bool setMeasurementFromState() {
        const VertexPointXY* v = static_cast<const VertexPointXY*>(_vertices[0]);
        _measurement = v->estimate();
        return true;
      }
 
 
      virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 0.;}
#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
      virtual void linearizeOplus();
#endif
  };
 
  EdgeXYPrior::EdgeXYPrior() :
      BaseUnaryEdge<2, Vector2d, VertexPointXY>()
    {
      _information.setIdentity();
      _error.setZero();
    }
 
    bool EdgeXYPrior::read(std::istream& is)
    {
        Vector2d p;
      is >> p[0] >> p[1];
      setMeasurement(p);
      for (int i = 0; i < 2; ++i)
        for (int j = i; j < 2; ++j) {
          is >> information()(i, j);
          if (i != j)
            information()(j, i) = information()(i, j);
        }
      return true;
    }
 
    bool EdgeXYPrior::write(std::ostream& os) const
    {
        Vector2d p = measurement();
      os << p.x() << " " << p.y();
      for (int i = 0; i < 2; ++i)
        for (int j = i; j < 2; ++j)
          os << " " << information()(i, j);
      return os.good();
    }
 
 
  #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
    void EdgeXYPrior::linearizeOplus()
    {
      _jacobianOplusXi=Matrix2d::Identity();
    }
  #endif
 
} // end namespace
 
#endif