vertex_switchLinear.h

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/*
 * vertex_switchLinear.h
 *
 *  Created on: 17.10.2011
 *      Author: niko
 *
 *  Updated on: 14.01.2013
 *      Author: Christian Kerl <christian.kerl@in.tum.de>
 */
 
 
#pragma once
 
#include "g2o/core/base_vertex.h"
#include <math.h>
 
 
 
    class VertexSwitchLinear : public g2o::BaseVertex<1, double>
    {
 
    public:
      VertexSwitchLinear();
 
      virtual void setToOriginImpl();
 
      virtual void oplusImpl(const double* update);
 
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;
      virtual void setEstimate(const double &et);
 
 
      double x() const { return _x; };
 
 
      double gradient() const { return 1; } ;
 
    private:
      double _x;
 
    };