edge_via_point.h

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 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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.
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 * Author: Christoph Rösmann
 *********************************************************************/
#ifndef EDGE_VIA_POINT_H_
#define EDGE_VIA_POINT_H_

#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/g2o_types/base_teb_edges.h>

#include "g2o/core/base_unary_edge.h"


namespace teb_local_planner
{

class EdgeViaPoint : public BaseTebUnaryEdge<1, const Eigen::Vector2d*, VertexPose>
{
public:
    
  EdgeViaPoint() 
  {
    _measurement = NULL;
  }
 
  void computeError()
  {
    ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig(), setViaPoint() on EdgeViaPoint()");
    const VertexPose* bandpt = static_cast<const VertexPose*>(_vertices[0]);

    _error[0] = (bandpt->position() - *_measurement).norm();

    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeViaPoint::computeError() _error[0]=%f\n",_error[0]);
  }

  void setViaPoint(const Eigen::Vector2d* via_point)
  {
    _measurement = via_point;
  }
    
  void setParameters(const TebConfig& cfg, const Eigen::Vector2d* via_point)
  {
    cfg_ = &cfg;
    _measurement = via_point;
  }
  
public:         
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};
  
    

} // end namespace

#endif