vertex_se3_quat.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef _VERTEX_SE3_QUAT_
#define _VERTEX_SE3_QUAT_

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o/math_groups/se3quat.h"

namespace g2o {

class VertexSE3 : public BaseVertex<6, SE3Quat>
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    VertexSE3();

    virtual void setToOrigin() {
      _estimate = SE3Quat() ;
    }

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


    virtual bool setEstimateData(const double* est){
      Vector7d v;
      for (int i=0; i<7; i++)
        v[i]=est[i];
      _estimate.fromVector(v);
      return true;
    }

    virtual bool getEstimateData(double* est) const{
      Vector7d v=_estimate.toVector();
      for (int i=0; i<7; i++)
        est[i] = v[i];
      return true;
    }

    virtual int estimateDimension() const {
      return 7;
    }

    virtual bool setMinimalEstimateData(const double* est){
      Map<const Vector6d> v(est);
      _estimate.fromMinimalVector(v);
      return true;
    }

    virtual bool getMinimalEstimateData(double* est) const{
      Map<Vector6d> v(est);
      v = _estimate.toMinimalVector();
      return true;
    }

    virtual int minimalEstimateDimension() const {
      return 6;
    }

    virtual void oplus(double* update)
    {
      Map<Vector6d> v(update);
      SE3Quat increment(v);
      _estimate *= increment;
    }
};

  class VertexSE3WriteGnuplotAction: public WriteGnuplotAction {
  public:
    VertexSE3WriteGnuplotAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
                                                HyperGraphElementAction::Parameters* params_ );
  };

#ifdef G2O_HAVE_OPENGL
  class VertexSE3DrawAction: public DrawAction{
  public:
    VertexSE3DrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
                                                HyperGraphElementAction::Parameters* params_ );
  };
#endif

} // end namespace

#endif