edge_se2Switchable.h
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1 /*
2  * edge_se2Switchable.h
3  *
4  * Created on: 13.07.2011
5  * Author: niko
6  *
7  * Updated on: 14.01.2013
8  * Author: Christian Kerl <christian.kerl@in.tum.de>
9  */
10 
11 #ifndef EDGE_SE2SWITCHABLE_H_
12 #define EDGE_SE2SWITCHABLE_H_
13 
14 #include "g2o/types/slam2d/vertex_se2.h"
15 #include "g2o/core/base_multi_edge.h"
16 #include "g2o/core/hyper_graph_action.h"
17 
18 class EdgeSE2Switchable : public g2o::BaseMultiEdge<3, g2o::SE2>
19 {
20  public:
22 
23  virtual bool read(std::istream& is);
24  virtual bool write(std::ostream& os) const;
25  void computeError();
26  void linearizeOplus();
27 
28 
29  virtual void setMeasurement(const g2o::SE2& m){
30  _measurement = m;
31  _inverseMeasurement = m.inverse();
32  }
33 
34  protected:
36 };
37 
38 
39 #ifdef G2O_HAVE_OPENGL
40  class EdgeSE2SwitchableDrawAction: public g2o::DrawAction{
41  public:
42  EdgeSE2SwitchableDrawAction();
43  virtual g2o::HyperGraphElementAction* operator()(g2o::HyperGraph::HyperGraphElement* element,
44  g2o::HyperGraphElementAction::Parameters* params_);
45  };
46 #endif
47 
48 
49 
50 #endif /* EDGE_SE2SWITCHABLE_H_ */
virtual bool write(std::ostream &os) const
virtual bool read(std::istream &is)
virtual void setMeasurement(const g2o::SE2 &m)


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Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58