edge_se2_segment2d.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_EDGE_SE2_SEGMENT2D_H
#define G2O_EDGE_SE2_SEGMENT2D_H
 
#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_types_slam2d_addons_api.h"
#include "vertex_segment2d.h"
 
namespace g2o {
 
class EdgeSE2Segment2D
    : public BaseBinaryEdge<4, Vector4, VertexSE2,
                            VertexSegment2D>  // Avoid redefinition of BaseEdge
                                              // in MSVC
{
 public:
  G2O_TYPES_SLAM2D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      G2O_TYPES_SLAM2D_ADDONS_API
      EdgeSE2Segment2D();
 
  G2O_TYPES_SLAM2D_ADDONS_API Vector2 measurementP1() {
    return Eigen::Map<const Vector2>(&(_measurement[0]));
  }
  G2O_TYPES_SLAM2D_ADDONS_API Vector2 measurementP2() {
    return Eigen::Map<const Vector2>(&(_measurement[2]));
  }
  G2O_TYPES_SLAM2D_ADDONS_API void setMeasurementP1(const Vector2& p1) {
    Eigen::Map<Vector2> v(&_measurement[0]);
    v = p1;
  }
  G2O_TYPES_SLAM2D_ADDONS_API void setMeasurementP2(const Vector2& p2) {
    Eigen::Map<Vector2> v(&_measurement[2]);
    v = p2;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    Eigen::Map<Vector2> error1(&_error(0));
    Eigen::Map<Vector2> error2(&_error(2));
    SE2 iEst = v1->estimate().inverse();
    error1 = (iEst * l2->estimateP1());
    error2 = (iEst * l2->estimateP2());
    _error = _error - _measurement;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector4> data(d);
    _measurement = data;
    return true;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector4> data(d);
    data = _measurement;
    return true;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual int measurementDimension() const {
    return 4;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementFromState() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    SE2 iEst = v1->estimate().inverse();
    setMeasurementP1(iEst * l2->estimateP1());
    setMeasurementP2(iEst * l2->estimateP2());
    return true;
  }
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool read(std::istream& is);
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool write(std::ostream& os) const;
 
  G2O_TYPES_SLAM2D_ADDONS_API virtual void initialEstimate(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
  G2O_TYPES_SLAM2D_ADDONS_API virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
};
 
}  // namespace g2o
 
#endif