edge_se2_line2d.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_EDGE_SE2_LINE2D_H
#define G2O_EDGE_SE2_LINE2D_H

#include "g2o/config.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "vertex_line2d.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/stuff/misc.h"
#include "g2o_types_slam2d_addons_api.h"

namespace g2o {

  class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Line2D : public BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      EdgeSE2Line2D();

      void computeError()
      {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexLine2D* l2 = static_cast<const VertexLine2D*>(_vertices[1]);
        Vector2D prediction=l2->estimate();
        SE2 iT=v1->estimate().inverse();
        prediction[0] += iT.rotation().angle();
        prediction[0] = normalize_theta(prediction[0]);
        Vector2D n(cos(prediction[0]), sin(prediction[0]));
        prediction[1] += n.dot(iT.translation());
        _error =  prediction - _measurement;
        _error [0] =  normalize_theta(_error[0]);
      }

      virtual bool setMeasurementData(const double* d){
        _measurement[0]=d[0];
        _measurement[1]=d[1];
        return true;
      }

      virtual bool getMeasurementData(double* d) const{
        d[0] = _measurement[0];
        d[1] = _measurement[1];
        return true;
      }

      virtual int measurementDimension() const {return 2;}

      virtual bool setMeasurementFromState(){
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexLine2D* l2 = static_cast<const VertexLine2D*>(_vertices[1]);
        Vector2D prediction=l2->estimate();
        SE2 iT=v1->estimate().inverse();
        prediction[0] += iT.rotation().angle();
        prediction[0] = normalize_theta(prediction[0]);
        Vector2D n(cos(prediction[0]), sin(prediction[0]));
        prediction[1] += n.dot(iT.translation());
        _measurement = prediction;
        return true;
      }

      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
      virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) { (void) to; return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);}
/* #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES */
/*       virtual void linearizeOplus(); */
/* #endif */
  };

/*   class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Line2DWriteGnuplotAction: public WriteGnuplotAction { */
/*   public: */
/*     EdgeSE2Line2DWriteGnuplotAction(); */
/*     virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,  */
/*             HyperGraphElementAction::Parameters* params_); */
/*   }; */

/* #ifdef G2O_HAVE_OPENGL */
/*   class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Line2DDrawAction: public DrawAction{ */
/*   public: */
/*     EdgeSE2Line2DDrawAction(); */
/*     virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,  */
/*             HyperGraphElementAction::Parameters* params_); */
/*   }; */
/* #endif */

} // end namespace

#endif