1 // g2o - General Graph Optimization 2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 // All rights reserved. 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are 7 // met: 8 // 9 // * Redistributions of source code must retain the above copyright notice, 10 // this list of conditions and the following disclaimer. 11 // * Redistributions in binary form must reproduce the above copyright 12 // notice, this list of conditions and the following disclaimer in the 13 // documentation and/or other materials provided with the distribution. 14 // 15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 27 #ifndef G2O_EDGE_SE2_OFFSET_H_ 28 #define G2O_EDGE_SE2_OFFSET_H_ 29 30 #include "g2o/core/base_binary_edge.h" 31 32 #include "vertex_se2.h" 33 #include "g2o_types_slam2d_api.h" 34 35 namespace g2o { 36 37 class ParameterSE2Offset; 38 class CacheSE2Offset; 39 40 /** 41 * \brief Offset edge 42 */ 43 // first two args are the measurement type, second two the connection classes 44 class G2O_TYPES_SLAM2D_API EdgeSE2Offset : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> { 45 public: 46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW; 47 EdgeSE2Offset(); 48 virtual bool read(std::istream& is); 49 virtual bool write(std::ostream& os) const; 50 51 void computeError(); 52 53 // jacobian 54 //virtual void linearizeOplus(); 55 setMeasurement(const SE2 & m)56 virtual void setMeasurement(const SE2& m){ 57 _measurement = m; 58 _inverseMeasurement = m.inverse(); 59 } 60 setMeasurementData(const number_t * d)61 virtual bool setMeasurementData(const number_t* d){ 62 Eigen::Map<const Vector3> v(d); 63 _measurement.fromVector(v); 64 _inverseMeasurement = _measurement.inverse(); 65 return true; 66 } 67 getMeasurementData(number_t * d)68 virtual bool getMeasurementData(number_t* d) const{ 69 Eigen::Map<Vector3> v(d); 70 v = _measurement.toVector(); 71 return true; 72 } 73 measurementDimension()74 virtual int measurementDimension() const {return 3;} 75 76 virtual bool setMeasurementFromState() ; 77 initialEstimatePossible(const OptimizableGraph::VertexSet &,OptimizableGraph::Vertex *)78 virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/, 79 OptimizableGraph::Vertex* /*to*/) { 80 return 1.; 81 } 82 83 virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to); 84 85 protected: 86 SE2 _inverseMeasurement; 87 virtual bool resolveCaches(); 88 ParameterSE2Offset *_offsetFrom, *_offsetTo; 89 CacheSE2Offset *_cacheFrom, *_cacheTo; 90 }; 91 92 } // end namespace 93 #endif 94