vertex_se3.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
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_VERTEX_SE3_
#define G2O_VERTEX_SE3_
 
#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_slam3d_api.h"
#include "isometry3d_mappings.h"
 
namespace g2o {

class G2O_TYPES_SLAM3D_API VertexSE3 : public BaseVertex<6, Isometry3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 
  static const int orthogonalizeAfter =
      1000;  //< orthogonalize the rotation matrix after N updates
 
  VertexSE3();
 
  virtual void setToOriginImpl() { _estimate = Isometry3::Identity(); }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  virtual bool setEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector7> v(est);
    _estimate = internal::fromVectorQT(v);
    return true;
  }
 
  virtual bool getEstimateData(double* est) const {
    Eigen::Map<Vector7> v(est);
    v = internal::toVectorQT(_estimate);
    return true;
  }
 
  virtual int estimateDimension() const { return 7; }
 
  virtual bool setMinimalEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector6> v(est);
    _estimate = internal::fromVectorMQT(v);
    return true;
  }
 
  virtual bool getMinimalEstimateData(double* est) const {
    Eigen::Map<Vector6> v(est);
    v = internal::toVectorMQT(_estimate);
    return true;
  }
 
  virtual int minimalEstimateDimension() const { return 6; }

  virtual void oplusImpl(const double* update) {
    Eigen::Map<const Vector6> v(update);
    Isometry3 increment = internal::fromVectorMQT(v);
    _estimate = _estimate * increment;
    if (++_numOplusCalls > orthogonalizeAfter) {
      _numOplusCalls = 0;
      internal::approximateNearestOrthogonalMatrix(
          _estimate.matrix().topLeftCorner<3, 3>());
    }
  }

  SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) {
    return internal::toSE3Quat(estimate());
  }

  void G2O_ATTRIBUTE_DEPRECATED(setEstimateFromSE3Quat(const SE3Quat& se3)) {
    setEstimate(internal::fromSE3Quat(se3));
  }
 
 protected:
  int _numOplusCalls;  
};

class VertexSE3WriteGnuplotAction : public WriteGnuplotAction {
 public:
  VertexSE3WriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM3D_API VertexSE3DrawAction : public DrawAction {
 public:
  VertexSE3DrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
 
 protected:
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
  FloatProperty *_triangleX, *_triangleY;
};
#endif
 
}  // namespace g2o
 
#endif