types_sba.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 Kurt Konolige
// 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.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
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#ifndef G2O_SBA_TYPES
#define G2O_SBA_TYPES

#include "../core/base_vertex.h"

#include <Eigen/Geometry>
#include <iostream>

namespace g2o {

 class VertexSBAPointXYZ : public BaseVertex<3, Vector3d>
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW    
    VertexSBAPointXYZ();
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;

    virtual void setToOriginImpl() {
      _estimate.fill(0.);
    }

    virtual void oplusImpl(const double* update)
    {
      Eigen::Map<const Vector3d> v(update);
      _estimate += v;
    }
};

} // end namespace

#endif // SBA_TYPES