1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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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