edge_line3d.cpp

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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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//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
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#include "edge_line3d.h"

namespace g2o
{

  EdgeLine3D::EdgeLine3D() :
    BaseBinaryEdge<6, Vector6d, VertexLine3D, VertexLine3D>()
  {
    _information.setIdentity();
    _error.setZero();
  }

  bool EdgeLine3D::read(std::istream& is)
  {
    Vector6d  v;
    for (int i = 0; i < 6; ++i)
      is >> v[i];
    setMeasurement(v);
    for (int i = 0; i < 6; ++i)
      for (int j = i; j < 6; ++j) {
        is >> information()(i, j);
        if (i != j)
          information()(j, i) = information()(i, j);
      }
    return true;
  }

  bool EdgeLine3D::write(std::ostream& os) const
  {
    for (int i = 0; i < 6; ++i)
      os << _measurement[i] << " ";
    for (int i = 0; i < 6; ++i)
      for (int j = i; j < 6; ++j)
        os << " " << information()(i, j);
    return os.good();
  }


#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
  void EdgeLine3D::linearizeOplus()
  {
    _jacobianOplusXi=-Matrix6d::Identity();
    _jacobianOplusXj= Matrix6d::Identity();
  }
#endif


} // end namespace