edge_xyz_prior.h

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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
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#ifndef G2O_EDGE_XYZ_PRIOR_H_
#define G2O_EDGE_XYZ_PRIOR_H_
 
#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "vertex_pointxyz.h"
 
namespace g2o {
class G2O_TYPES_SLAM3D_API EdgeXYZPrior
    : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeXYZPrior();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  void computeError();
 
  // jacobian
  virtual void linearizeOplus();
 
  virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector3> v(d);
    _measurement = v;
    return true;
  }
 
  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector3> v(d);
    v = _measurement;
    return true;
  }
 
  virtual int measurementDimension() const { return 3; }
 
  virtual bool setMeasurementFromState();
 
  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& /*from*/,
      OptimizableGraph::Vertex* /*to*/) {
    return 0;
  }
};
 
}  // namespace g2o
#endif