g2o
edge_pointxy.h
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26 
27 #ifndef G2O_EDGE_POINTXY_H
28 #define G2O_EDGE_POINTXY_H
29 
30 #include "vertex_point_xy.h"
31 #include "g2o/config.h"
33 #include "g2o_types_slam2d_api.h"
34 
35 namespace g2o {
36 
37  class G2O_TYPES_SLAM2D_API EdgePointXY : public BaseBinaryEdge<2, Vector2D, VertexPointXY, VertexPointXY>
38  {
39  public:
40  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41  EdgePointXY();
42 
43  void computeError()
44  {
45  const VertexPointXY* v1 = static_cast<const VertexPointXY*>(_vertices[0]);
46  const VertexPointXY* v2 = static_cast<const VertexPointXY*>(_vertices[1]);
47  _error = (v2->estimate()-v1->estimate())-_measurement;
48  }
49  virtual bool read(std::istream& is);
50  virtual bool write(std::ostream& os) const;
51 
52  virtual void setMeasurement(const Vector2D& m){
53  _measurement = m;
54  }
55 
56  virtual bool setMeasurementData(const double* d){
57  _measurement=Vector2D(d[0], d[1]);
58  return true;
59  }
60 
61  virtual bool getMeasurementData(double* d) const {
62  Eigen::Map<Vector2D> m(d);
63  m=_measurement;
64  return true;
65  }
66 
67  virtual int measurementDimension() const {return 2;}
68 
69  virtual bool setMeasurementFromState() {
70  const VertexPointXY* v1 = static_cast<const VertexPointXY*>(_vertices[0]);
71  const VertexPointXY* v2 = static_cast<const VertexPointXY*>(_vertices[1]);
72  _measurement = v2->estimate()-v1->estimate();
73  return true;
74  }
75 
76 
78 #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
79  virtual void linearizeOplus();
80 #endif
81  };
82 
83 
84 } // end namespace
85 
86 #endif
Eigen::Matrix< double, 2, 1, Eigen::ColMajor > Vector2D
Definition: eigen_types.h:45
virtual bool setMeasurementFromState()
Definition: edge_pointxy.h:69
std::set< Vertex * > VertexSet
Definition: hyper_graph.h:136
#define G2O_TYPES_SLAM2D_API
virtual double initialEstimatePossible(const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
Definition: edge_pointxy.h:77
A general case Vertex for optimization.
virtual bool setMeasurementData(const double *d)
Definition: edge_pointxy.h:56
virtual bool getMeasurementData(double *d) const
Definition: edge_pointxy.h:61
virtual int measurementDimension() const
Definition: edge_pointxy.h:67
const EstimateType & estimate() const
return the current estimate of the vertex
Definition: base_vertex.h:99
virtual void setMeasurement(const Vector2D &m)
Definition: edge_pointxy.h:52