Program Listing for File vertex_room.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 G2O_VERTEX_ROOM
#define G2O_VERTEX_ROOM

#include <g2o/types/slam3d/g2o_types_slam3d_api.h>

#include <Eigen/Core>

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"

namespace g2o {

class G2O_TYPES_SLAM3D_API VertexRoom : public BaseVertex<6, Isometry3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  VertexRoom() {
    _numOplusCalls = 0;
    setToOriginImpl();
    updateCache();
  }
  static const int orthogonalizeAfter =
      1000;  //< orthogonalize the rotation matrix after N updates

  virtual void setToOriginImpl() { _estimate = Isometry3::Identity(); }

  virtual bool setEstimateDataImpl(const number_t* est) {
    Eigen::Map<const Vector7> v(est);
    _estimate = internal::fromVectorQT(v);
    return true;
  }

  virtual bool getEstimateData(number_t* est) const {
    Eigen::Map<Vector7> v(est);
    v = internal::toVectorQT(_estimate);
    return true;
  }

  virtual int estimateDimension() const { return 7; }

  virtual bool setMinimalEstimateDataImpl(const number_t* est) {
    Eigen::Map<const Vector6> v(est);
    _estimate = internal::fromVectorMQT(v);
    return true;
  }

  virtual bool getMinimalEstimateData(number_t* est) const {
    Eigen::Map<Vector6> v(est);
    v = internal::toVectorMQT(_estimate);
    return true;
  }

  virtual int minimalEstimateDimension() const { return 6; }

  virtual void oplusImpl(const number_t* update) {
    Eigen::Map<const Vector6> v(update);
    Isometry3 increment = internal::fromVectorMQT(v);
    _estimate = _estimate * increment;
    if (++_numOplusCalls > orthogonalizeAfter) {
      _numOplusCalls = 0;
      internal::approximateNearestOrthogonalMatrix(
          _estimate.matrix().topLeftCorner<3, 3>());
    }
  }

  virtual bool read(std::istream& is) {
    Vector7 est;
    bool state = internal::readVector(is, est);
    setEstimate(internal::fromVectorQT(est));
    return state;
  }
  virtual bool write(std::ostream& os) const {
    return internal::writeVector(os, internal::toVectorQT(estimate()));
  }

 protected:
  int _numOplusCalls;
};

}  // namespace g2o

#endif