vertex_se2.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
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_VERTEX_SE2_H
#define G2O_VERTEX_SE2_H
 
#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_slam2d_api.h"
#include "se2.h"
 
namespace g2o {

class G2O_TYPES_SLAM2D_API VertexSE2 : public BaseVertex<3, SE2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  VertexSE2();
 
  virtual void setToOriginImpl() { _estimate = SE2(); }
 
  virtual void oplusImpl(const double* update) {
    Vector2 t = _estimate.translation();
    t += Eigen::Map<const Vector2>(update);
    double angle = normalize_theta(_estimate.rotation().angle() + update[2]);
    _estimate.setTranslation(t);
    _estimate.setRotation(Rotation2D(angle));
  }
 
  virtual bool setEstimateDataImpl(const double* est) {
    _estimate = SE2(est[0], est[1], est[2]);
    return true;
  }
 
  virtual bool getEstimateData(double* est) const {
    Eigen::Map<Vector3> v(est);
    v = _estimate.toVector();
    return true;
  }
 
  virtual int estimateDimension() const { return 3; }
 
  virtual bool setMinimalEstimateDataImpl(const double* est) {
    return setEstimateData(est);
  }
 
  virtual bool getMinimalEstimateData(double* est) const {
    return getEstimateData(est);
  }
 
  virtual int minimalEstimateDimension() const { return 3; }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
};
 
class G2O_TYPES_SLAM2D_API VertexSE2WriteGnuplotAction
    : public WriteGnuplotAction {
 public:
  VertexSE2WriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM2D_API VertexSE2DrawAction : public DrawAction {
 public:
  VertexSE2DrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
 
 protected:
  HyperGraphElementAction* _drawActions;
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
  FloatProperty *_triangleX, *_triangleY;
};
#endif
 
}  // namespace g2o
 
#endif