Program Listing for File edge_se3_point_to_plane.hpp

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/*
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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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 COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef KKL_G2O_EDGE_SE3_POINT_TO_PLANE_HPP
#define KKL_G2O_EDGE_SE3_POINT_TO_PLANE_HPP

#include <g2o/types/slam3d/edge_se3.h>
#include <g2o/types/slam3d/vertex_se3.h>
#include <g2o/types/slam3d_addons/vertex_plane.h>

namespace g2o {
class EdgeSE3PointToPlane
    : public g2o::BaseBinaryEdge<1, Eigen::Matrix4d, g2o::VertexSE3, g2o::VertexPlane> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3PointToPlane()
      : BaseBinaryEdge<1, Eigen::Matrix4d, g2o::VertexSE3, g2o::VertexPlane>() {}

  void computeError() override;

  void setMeasurement(const Eigen::Matrix4d& m) override { _measurement = m; }

  virtual bool read(std::istream& is) override;
  virtual bool write(std::ostream& os) const override;
};
}  // namespace g2o

#endif