edge_plane.cpp

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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
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#include "edge_plane.h"
 
namespace g2o {
using namespace Eigen;
 
EdgePlane::EdgePlane()
    : BaseBinaryEdge<4, Vector4, VertexPlane, VertexPlane>() {
  _information.setIdentity();
  _error.setZero();
}
 
bool EdgePlane::read(std::istream& is) {
  Vector4 v;
  internal::readVector(is, v);
  setMeasurement(v);
  return readInformationMatrix(is);
}
 
bool EdgePlane::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}
 
#if 0
void EdgePlane::linearizeOplus()
{
    _jacobianOplusXi=-Matrix3::Identity();
    _jacobianOplusXj= Matrix3::Identity();
}
#endif
 
}  // namespace g2o