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_POINT_XY_OFFSET_H_
28 #define G2O_EDGE_SE2_POINT_XY_OFFSET_H_
29 
30 #include "g2o/core/base_binary_edge.h"
31 
32 #include "vertex_se2.h"
33 #include "vertex_point_xy.h"
34 #include "g2o_types_slam2d_api.h"
35 
36 namespace g2o {
37 
38 
39   /*! \class EdgeSE2PointXYOffset
40    * \brief g2o edge from a track to a point node
41    */
42   // first two args are the measurement type, second two the connection classes
43   class G2O_TYPES_SLAM2D_API EdgeSE2PointXYOffset : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexPointXY> {
44   public:
45     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46     EdgeSE2PointXYOffset();
47     virtual bool read(std::istream& is);
48     virtual bool write(std::ostream& os) const;
49 
50     void computeError();
51     virtual void linearizeOplus();
52 
53 
setMeasurement(const Vector2 & m)54     virtual void setMeasurement(const Vector2& m){
55       _measurement = m;
56     }
57 
setMeasurementData(const number_t * d)58     virtual bool setMeasurementData(const number_t* d){
59       Eigen::Map<const Vector2> v(d);
60       _measurement = v;
61       return true;
62     }
63 
getMeasurementData(number_t * d)64     virtual bool getMeasurementData(number_t* d) const{
65       Eigen::Map<Vector2> v(d);
66       v=_measurement;
67       return true;
68     }
69 
measurementDimension()70     virtual int measurementDimension() const {return 3;}
71 
72     virtual bool setMeasurementFromState() ;
73 
initialEstimatePossible(const OptimizableGraph::VertexSet & from,OptimizableGraph::Vertex * to)74     virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
75       (void)to;
76       return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
77     }
78 
79     virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
80 
81   private:
82     ParameterSE2Offset* offsetParam;
83     CacheSE2Offset* cache;
84     virtual bool resolveCaches();
85 
86   };
87 
88 }
89 #endif
90