edge_xy_prior.h
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26 
31 #ifndef G2O_EDGE_XY_PRIOR_H
32 #define G2O_EDGE_XY_PRIOR_H
33 
34 #include "g2o/types/slam2d/vertex_point_xy.h"
35 #include "g2o/config.h"
36 #include "g2o/core/base_unary_edge.h"
37 
38 namespace g2o {
39 
40 using namespace Eigen;
41 
42  class EdgeXYPrior : public BaseUnaryEdge<2, Vector2d, VertexPointXY>
43  {
44  public:
45  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46  EdgeXYPrior();
47 
48  void computeError()
49  {
50  const VertexPointXY* v = static_cast<const VertexPointXY*>(_vertices[0]);
51  _error = v->estimate()-_measurement;
52  }
53  virtual bool read(std::istream& is);
54  virtual bool write(std::ostream& os) const;
55 
56  virtual void setMeasurement(const Vector2d& m){
57  _measurement = m;
58  }
59 
60  virtual bool setMeasurementData(const double* d){
61  _measurement=Vector2d(d[0], d[1]);
62  return true;
63  }
64 
65  virtual bool getMeasurementData(double* d) const {
66  Eigen::Map<Vector2d> m(d);
67  m=_measurement;
68  return true;
69  }
70 
71  virtual int measurementDimension() const {return 2;}
72 
73  virtual bool setMeasurementFromState() {
74  const VertexPointXY* v = static_cast<const VertexPointXY*>(_vertices[0]);
75  _measurement = v->estimate();
76  return true;
77  }
78 
79 
80  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 0.;}
81 #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
82  virtual void linearizeOplus();
83 #endif
84  };
85 
87  BaseUnaryEdge<2, Vector2d, VertexPointXY>()
88  {
89  _information.setIdentity();
90  _error.setZero();
91  }
92 
93  bool EdgeXYPrior::read(std::istream& is)
94  {
95  Vector2d p;
96  is >> p[0] >> p[1];
97  setMeasurement(p);
98  for (int i = 0; i < 2; ++i)
99  for (int j = i; j < 2; ++j) {
100  is >> information()(i, j);
101  if (i != j)
102  information()(j, i) = information()(i, j);
103  }
104  return true;
105  }
106 
107  bool EdgeXYPrior::write(std::ostream& os) const
108  {
109  Vector2d p = measurement();
110  os << p.x() << " " << p.y();
111  for (int i = 0; i < 2; ++i)
112  for (int j = i; j < 2; ++j)
113  os << " " << information()(i, j);
114  return os.good();
115  }
116 
117 
118  #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
120  {
121  _jacobianOplusXi=Matrix2d::Identity();
122  }
123  #endif
124 
125 } // end namespace
126 
127 #endif
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeXYPrior()
Definition: edge_xy_prior.h:86
virtual void linearizeOplus()
virtual bool setMeasurementFromState()
Definition: edge_xy_prior.h:73
virtual bool write(std::ostream &os) const
virtual void setMeasurement(const Vector2d &m)
Definition: edge_xy_prior.h:56
virtual double initialEstimatePossible(const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
Definition: edge_xy_prior.h:80
virtual int measurementDimension() const
Definition: edge_xy_prior.h:71
virtual bool getMeasurementData(double *d) const
Definition: edge_xy_prior.h:65
virtual bool read(std::istream &is)
Definition: edge_xy_prior.h:93
virtual bool setMeasurementData(const double *d)
Definition: edge_xy_prior.h:60


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:28