parameter_se3_offset.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
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_VERTEX_SE3_OFFSET_PARAMETERS_H_
#define G2O_VERTEX_SE3_OFFSET_PARAMETERS_H_
 
#include "g2o/core/cache.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_slam3d_api.h"
 
namespace g2o {

class G2O_TYPES_SLAM3D_API ParameterSE3Offset : public Parameter {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  ParameterSE3Offset();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  void setOffset(const Isometry3& offset_ = Isometry3::Identity());

  const Isometry3& offset() const { return _offset; }

  const Isometry3& inverseOffset() const { return _inverseOffset; }
 
 protected:
  Isometry3 _offset;
  Isometry3 _inverseOffset;
};

class G2O_TYPES_SLAM3D_API CacheSE3Offset : public Cache {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  CacheSE3Offset();
  virtual void updateImpl();
 
  const ParameterSE3Offset* offsetParam() const { return _offsetParam; }
  void setOffsetParam(ParameterSE3Offset* offsetParam);
 
  const Isometry3& w2n() const { return _w2n; }
  const Isometry3& n2w() const { return _n2w; }
  const Isometry3& w2l() const { return _w2l; }
 
 protected:
  ParameterSE3Offset* _offsetParam;  
  Isometry3 _w2n;
  Isometry3 _n2w;
  Isometry3 _w2l;
 
 protected:
  virtual bool resolveDependencies();
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM3D_API CacheSE3OffsetDrawAction : public DrawAction {
 public:
  CacheSE3OffsetDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
 
 protected:
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
  FloatProperty* _cubeSide;
};
#endif
 
}  // namespace g2o
 
#endif