edge_se3_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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#ifndef G2O_EDGE_SE3_CALIB_H
#define G2O_EDGE_SE3_CALIB_H

#include "g2o_types_slam3d_addons_api.h"
#include "g2o/core/base_multi_edge.h"
#include "g2o/types/slam3d/vertex_se3.h"
#include "g2o/types/slam3d/isometry3d_mappings.h"
#include "Eigen/Geometry"

namespace g2o
{
  class EdgeSE3Calib : public BaseMultiEdge<6, Isometry3D> //Avoid redefinition of BaseEdge in MSVC
  {
    public:
      G2O_TYPES_SLAM3D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      G2O_TYPES_SLAM3D_ADDONS_API EdgeSE3Calib();

      G2O_TYPES_SLAM3D_ADDONS_API void computeError();
      G2O_TYPES_SLAM3D_ADDONS_API virtual bool read(std::istream& is);
      G2O_TYPES_SLAM3D_ADDONS_API virtual bool write(std::ostream& os) const;
  };

} // end namespace

#endif