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.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
 *   * Neither the name of the institute nor the names of its
 *     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
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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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 <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);
  }
 
  inline double& dt() {return _estimate;}
  
  inline const double& dt() const {return _estimate;}
  
  virtual void setToOriginImpl() override
  {
    _estimate = 0.1;
  }
 
  virtual void oplusImpl(const double* update) override
  {
      _estimate += *update;
  }
 
  virtual bool read(std::istream& is) override
  {
    is >> _estimate;
    return true;
  }
 
  virtual bool write(std::ostream& os) const override
  {
    os << estimate();
    return os.good();
  }
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
}
 
#endif