edge_se3_line.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:
//
// * 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
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#ifndef G2O_EDGE_SE3_LINE_H_
#define G2O_EDGE_SE3_LINE_H_

#include "g2o/core/base_binary_edge.h"

#include "g2o_types_slam3d_addons_api.h"
#include "line3d.h"
#include "vertex_line3d.h"
#include "g2o/types/slam3d/vertex_se3.h"
#include "g2o/types/slam3d/parameter_se3_offset.h"

namespace g2o {

  typedef Eigen::Matrix<double, 7, 1, Eigen::ColMajor> Vector7d;

  class G2O_TYPES_SLAM3D_ADDONS_API EdgeSE3Line3D : public BaseBinaryEdge<7, Vector7d, VertexSE3, VertexLine3D> {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      EdgeSE3Line3D();
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      void computeError();

      virtual void setMeasurement(const Vector7d& m){
        _measurement = m;
      }

      virtual void setMeasurement(const Line3D& m){
        _measurement.head<6>() = Line3D(m);
        _measurement(6) = 1;
      }

      virtual bool setMeasurementData(const double* d){
        Eigen::Map<const Vector7d> v(d);
        _measurement = v;
        return true;
      }

      virtual bool getMeasurementData(double* d) const{
        Eigen::Map<Vector7d> v(d);
        v = _measurement;
        return true;
      }

      virtual int measurementDimension() const {return 7;}

  private:

    ParameterSE3Offset* offsetParam;
    CacheSE3Offset* cache;
    virtual bool resolveCaches();

  };

} // end namespace
#endif