1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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26 
27 #ifndef G2O_EDGE_XYZ_PRIOR_H_
28 #define G2O_EDGE_XYZ_PRIOR_H_
29 
30 #include "g2o/core/base_unary_edge.h"
31 #include "g2o_types_slam3d_api.h"
32 #include "vertex_pointxyz.h"
33 
34 namespace g2o {
35   /**
36    * \brief prior for an XYZ vertex (VertexPointXYZ)
37    *
38    * Provides a prior for a 3d point vertex. The measurement is represented by a
39    * Vector3 with a corresponding 3x3 upper triangle covariance matrix (upper triangle only).
40    */
41   class G2O_TYPES_SLAM3D_API EdgeXYZPrior : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
42   public:
43     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44     EdgeXYZPrior();
45     virtual bool read(std::istream& is);
46     virtual bool write(std::ostream& os) const;
47 
48     void computeError();
49 
50     // jacobian
51     virtual void linearizeOplus();
52 
setMeasurementData(const number_t * d)53     virtual bool setMeasurementData(const number_t* d){
54         Eigen::Map<const Vector3> v(d);
55         _measurement = v;
56         return true;
57     }
58 
getMeasurementData(number_t * d)59     virtual bool getMeasurementData(number_t* d) const{
60         Eigen::Map<Vector3> v(d);
61         v = _measurement;
62         return true;
63     }
64 
measurementDimension()65     virtual int measurementDimension() const { return 3; }
66 
67     virtual bool setMeasurementFromState() ;
68 
initialEstimatePossible(const OptimizableGraph::VertexSet &,OptimizableGraph::Vertex *)69     virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/,
70              OptimizableGraph::Vertex* /*to*/) {
71       return 0;
72     }
73   };
74 
75 }
76 #endif
77