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_SE3_PRIOR_XYZ_H 28 #define G2O_EDGE_SE3_PRIOR_XYZ_H 29 30 #include "vertex_se3.h" 31 #include "g2o/core/base_unary_edge.h" 32 #include "parameter_se3_offset.h" 33 #include "g2o_types_slam3d_api.h" 34 35 namespace g2o { 36 /** 37 * \brief Prior for a 3D pose with constraints only in xyz direction 38 */ 39 class G2O_TYPES_SLAM3D_API EdgeSE3XYZPrior : public BaseUnaryEdge<3, Vector3, VertexSE3> 40 { 41 public: 42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 43 EdgeSE3XYZPrior(); 44 setMeasurementData(const number_t * d)45 virtual bool setMeasurementData(const number_t* d) { 46 Eigen::Map<const Vector3> v(d); 47 _measurement = v; 48 return true; 49 } 50 getMeasurementData(number_t * d)51 virtual bool getMeasurementData(number_t* d) const { 52 Eigen::Map<Vector3> v(d); 53 v = _measurement; 54 return true; 55 } 56 measurementDimension()57 virtual int measurementDimension() const {return Dimension;} 58 59 virtual bool read(std::istream& is); 60 virtual bool write(std::ostream& os) const; 61 virtual void computeError(); 62 virtual void linearizeOplus(); 63 virtual bool setMeasurementFromState(); 64 initialEstimatePossible(const OptimizableGraph::VertexSet &,OptimizableGraph::Vertex *)65 virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/, OptimizableGraph::Vertex* /*to*/) {return 1.;} 66 virtual void initialEstimate(const OptimizableGraph::VertexSet& /*from_*/, OptimizableGraph::Vertex* /*to_*/); 67 offsetParameter()68 const ParameterSE3Offset* offsetParameter() { return _offsetParam; } 69 70 protected: 71 virtual bool resolveCaches(); 72 ParameterSE3Offset* _offsetParam; 73 CacheSE3Offset* _cache; 74 }; 75 76 } // end namespace 77 78 #endif 79