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.
//
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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.
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#ifndef G2O_EDGE_SE2_XY_CALIB_H
#define G2O_EDGE_SE2_XY_CALIB_H

#include "vertex_se2.h"
#include "vertex_point_xy.h"
#include "g2o/core/base_multi_edge.h"
#include "g2o_types_slam2d_api.h"

namespace g2o {

  class G2O_TYPES_SLAM2D_API EdgeSE2PointXYCalib : public BaseMultiEdge<2, Vector2D>
  {
    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);
  };

}

#endif