00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef TUTORIAL_VERTEX_POINT_XY_H 00018 #define TUTORIAL_VERTEX_POINT_XY_H 00019 00020 #include "g2o/core/base_vertex.h" 00021 #include "g2o/core/hyper_graph_action.h" 00022 00023 #include <Eigen/Core> 00024 00025 namespace g2o { 00026 namespace tutorial { 00027 00028 class VertexPointXY : public BaseVertex<2, Eigen::Vector2d> 00029 { 00030 public: 00031 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00032 VertexPointXY(); 00033 00034 virtual void setToOrigin() { 00035 _estimate.setZero(); 00036 } 00037 00038 virtual void oplus(double* update) 00039 { 00040 _estimate[0] += update[0]; 00041 _estimate[1] += update[1]; 00042 } 00043 00044 virtual bool read(std::istream& is); 00045 virtual bool write(std::ostream& os) const; 00046 00047 }; 00048 00049 } 00050 } 00051 00052 #endif