edge_se2_pointxy.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// 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
//   notice, this list of conditions and the following disclaimer in the
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#include "edge_se2_pointxy.h"

using namespace Eigen;

namespace g2o {
  namespace tutorial {

    EdgeSE2PointXY::EdgeSE2PointXY() :
      BaseBinaryEdge<2, Vector2d, VertexSE2, VertexPointXY>(),
      _sensorOffset(0), _sensorCache(0)
    {
      resizeParameters(1);
      installParameter(_sensorOffset, 0);
    }

    bool EdgeSE2PointXY::read(std::istream& is)
    {
      int paramId;
      is >> paramId;
      if (! setParameterId(0,paramId))
        return false;
      is >> _measurement[0] >> _measurement[1];
      is >> information()(0,0) >> information()(0,1) >> information()(1,1);
      information()(1,0) = information()(0,1);
      return true;
    }

    bool EdgeSE2PointXY::write(std::ostream& os) const
    {
      os << _sensorOffset->id() << " ";
      os << measurement()[0] << " " << measurement()[1] << " ";
      os << information()(0,0) << " " << information()(0,1) << " " << information()(1,1);
      return os.good();
    }

    void EdgeSE2PointXY::computeError()
    {
      const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
      _error = (_sensorCache->w2n() * l2->estimate()) - _measurement;
    }

    bool EdgeSE2PointXY::resolveCaches()
    {
      ParameterVector pv(1);
      pv[0] = _sensorOffset;
      resolveCache(_sensorCache, static_cast<OptimizableGraph::Vertex*>(_vertices[0]), "TUTORIAL_CACHE_SE2_OFFSET", pv);
      return _sensorCache != 0;
    }

  } // end namespace
} // end namespace