edge_se2_pointxy_calib.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, 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
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_EDGE_SE2_XY_CALIB_H
#define G2O_EDGE_SE2_XY_CALIB_H
 
#include "g2o/core/base_variable_sized_edge.h"
#include "g2o_types_slam2d_api.h"
#include "vertex_point_xy.h"
#include "vertex_se2.h"
 
namespace g2o {

class G2O_TYPES_SLAM2D_API EdgeSE2PointXYCalib
    : public BaseVariableSizedEdge<2, Vector2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE2PointXYCalib();
 
  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
    const VertexSE2* calib = static_cast<const VertexSE2*>(_vertices[2]);
    _error = ((v1->estimate() * calib->estimate()).inverse() * l2->estimate()) -
             _measurement;
  }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
};
 
}  // namespace g2o
 
#endif