base_binary_edge.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_BASE_BINARY_EDGE_H
#define G2O_BASE_BINARY_EDGE_H
 
#include "base_fixed_sized_edge.h"
 
namespace g2o {
 
// This could be a simple using statement, but in multiple places
// _jacobianOplusXi and _jacobianOplusYi are used.
template <int D, typename E, typename VertexXi, typename VertexXj>
class BaseBinaryEdge : public BaseFixedSizedEdge<D, E, VertexXi, VertexXj> {
 public:
  using VertexXiType = VertexXi;
  using VertexXjType = VertexXj;
  BaseBinaryEdge() : BaseFixedSizedEdge<D, E, VertexXi, VertexXj>(){};
 
 protected:
  typename BaseFixedSizedEdge<D, E, VertexXi, VertexXj>::template JacobianType<
      D, VertexXi::Dimension>& _jacobianOplusXi =
      std::get<0>(this->_jacobianOplus);
  typename BaseFixedSizedEdge<D, E, VertexXi, VertexXj>::template JacobianType<
      D, VertexXj::Dimension>& _jacobianOplusXj =
      std::get<1>(this->_jacobianOplus);
};
 
}  // namespace g2o
 
#endif