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_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