1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
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26 
27 #ifndef G2O_EDGE_SE3_H_
28 #define G2O_EDGE_SE3_H_
29 
30 #include "g2o/core/base_binary_edge.h"
31 
32 #include "g2o_types_slam3d_api.h"
33 #include "vertex_se3.h"
34 
35 namespace g2o {
36 
37   /**
38    * \brief Edge between two 3D pose vertices
39    *
40    * The transformation between the two vertices is given as an Isometry3.
41    * If z denotes the measurement, then the error function is given as follows:
42    * z^-1 * (x_i^-1 * x_j)
43    */
44   class G2O_TYPES_SLAM3D_API EdgeSE3 : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
45     public:
46       EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
47       EdgeSE3();
48       virtual bool read(std::istream& is);
49       virtual bool write(std::ostream& os) const;
50 
51       void computeError();
52 
setMeasurement(const Isometry3 & m)53       virtual void setMeasurement(const Isometry3& m){
54         _measurement = m;
55         _inverseMeasurement = m.inverse();
56       }
57 
setMeasurementData(const number_t * d)58       virtual bool setMeasurementData(const number_t* d){
59         Eigen::Map<const Vector7> v(d);
60         setMeasurement(internal::fromVectorQT(v));
61         return true;
62       }
63 
getMeasurementData(number_t * d)64       virtual bool getMeasurementData(number_t* d) const{
65         Eigen::Map<Vector7> v(d);
66         v = internal::toVectorQT(_measurement);
67         return true;
68       }
69 
70       void linearizeOplus();
71 
measurementDimension()72       virtual int measurementDimension() const {return 7;}
73 
74       virtual bool setMeasurementFromState() ;
75 
initialEstimatePossible(const OptimizableGraph::VertexSet &,OptimizableGraph::Vertex *)76       virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/,
77           OptimizableGraph::Vertex* /*to*/) {
78         return 1.;
79       }
80 
81       virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
82 
83     protected:
84       Isometry3 _inverseMeasurement;
85   };
86 
87   /**
88    * \brief Output the pose-pose constraint to Gnuplot data file
89    */
90   class G2O_TYPES_SLAM3D_API EdgeSE3WriteGnuplotAction: public WriteGnuplotAction {
91   public:
92     EdgeSE3WriteGnuplotAction();
93     virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,
94             HyperGraphElementAction::Parameters* params_);
95   };
96 
97 #ifdef G2O_HAVE_OPENGL
98   /**
99    * \brief Visualize a 3D pose-pose constraint
100    */
101   class G2O_TYPES_SLAM3D_API EdgeSE3DrawAction: public DrawAction{
102   public:
103     EdgeSE3DrawAction();
104     virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,
105             HyperGraphElementAction::Parameters* params_);
106   };
107 #endif
108 
109 } // end namespace
110 #endif
111