1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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26 
27 #ifndef G2O_EDGE_SE3_OFFSET_H_
28 #define G2O_EDGE_SE3_OFFSET_H_
29 
30 
31 #include "edge_se3.h"
32 #include "g2o_types_slam3d_api.h"
33 
34 namespace g2o {
35   class ParameterSE3Offset;
36   class CacheSE3Offset;
37 
38   /**
39    * \brief Offset edge
40    */
41   // first two args are the measurement type, second two the connection classes
42   class G2O_TYPES_SLAM3D_API EdgeSE3Offset : public EdgeSE3 {
43     public:
44       EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
45       EdgeSE3Offset();
46       virtual bool read(std::istream& is);
47       virtual bool write(std::ostream& os) const;
48 
49       void computeError();
50 
51 
52       void linearizeOplus();
53 
54       virtual bool setMeasurementFromState() ;
55 
initialEstimatePossible(const OptimizableGraph::VertexSet &,OptimizableGraph::Vertex *)56       virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/,
57           OptimizableGraph::Vertex* /*to*/) {
58         return 1.;
59       }
60 
61       virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
62 
63     protected:
64       virtual bool resolveCaches();
65       ParameterSE3Offset *_offsetFrom, *_offsetTo;
66       CacheSE3Offset  *_cacheFrom, *_cacheTo;
67   };
68 
69 } // end namespace
70 #endif
71