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
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8 //
9 // * Redistributions of source code must retain the above copyright notice,
10 //   this list of conditions and the following disclaimer.
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12 //   notice, this list of conditions and the following disclaimer in the
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14 //
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26 
27 #ifndef G2O_VERTEX_LINE3D_H_
28 #define G2O_VERTEX_LINE3D_H_
29 
30 #include "g2o/config.h"
31 #include "g2o/core/base_vertex.h"
32 #include "g2o/core/hyper_graph_action.h"
33 
34 #include "g2o_types_slam3d_addons_api.h"
35 #include "line3d.h"
36 
37 namespace g2o {
38 
39   class G2O_TYPES_SLAM3D_ADDONS_API VertexLine3D : public BaseVertex<4, Line3D> {
40   public:
41     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
42 
43     VertexLine3D();
44     virtual bool read(std::istream& is);
45     virtual bool write(std::ostream& os) const;
46 
setToOriginImpl()47     virtual void setToOriginImpl() { _estimate = Line3D(); }
48 
oplusImpl(const number_t * update_)49     virtual void oplusImpl(const number_t* update_) {
50       Eigen::Map<const Vector4> update(update_);
51       _estimate.oplus(update);
52     }
53 
setEstimateDataImpl(const number_t * est)54     virtual bool setEstimateDataImpl(const number_t* est) {
55       Eigen::Map<const Vector6> _est(est);
56       _estimate = Line3D(_est);
57       return true;
58     }
59 
getEstimateData(number_t * est)60     virtual bool getEstimateData(number_t* est) const {
61       Eigen::Map<Vector6> _est(est);
62       _est = _estimate;
63       return true;
64     }
65 
estimateDimension()66     virtual int estimateDimension() const {
67       return 6;
68     }
69 
70     Vector3 color;
71   };
72 
73 #ifdef G2O_HAVE_OPENGL
74   class VertexLine3DDrawAction : public DrawAction {
75   public:
76     VertexLine3DDrawAction();
77     virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,
78 						HyperGraphElementAction::Parameters* params_);
79   protected:
80     virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
81     FloatProperty* _lineLength, *_lineWidth;
82 
83   };
84 #endif
85 
86 }
87 #endif
88