edge_se2_pointxy.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
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//
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#ifndef G2O_TUTORIAL_EDGE_SE2_POINT_XY_H
#define G2O_TUTORIAL_EDGE_SE2_POINT_XY_H

#include "vertex_se2.h"
#include "vertex_point_xy.h"
#include "parameter_se2_offset.h"
#include "g2o_tutorial_slam2d_api.h"

#include "g2o/core/base_binary_edge.h"

namespace g2o {

  namespace tutorial {

    class ParameterSE2Offset;
    class CacheSE2Offset;

    class G2O_TUTORIAL_SLAM2D_API EdgeSE2PointXY : public BaseBinaryEdge<2, Eigen::Vector2d, VertexSE2, VertexPointXY>
    {
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        EdgeSE2PointXY();

        void computeError();
  
        virtual bool read(std::istream& is);
        virtual bool write(std::ostream& os) const;
      
      protected:
        ParameterSE2Offset* _sensorOffset;
        CacheSE2Offset* _sensorCache;

        virtual bool resolveCaches();
    };

  } // end namespace
} // end namespace

#endif