vertex_point_xy.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
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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#include "vertex_point_xy.h"

using namespace Eigen;

namespace g2o {
  namespace tutorial {

    VertexPointXY::VertexPointXY() :
      BaseVertex<2, Vector2d>()
    {
      _estimate.setZero();
    }

    bool VertexPointXY::read(std::istream& is)
    {
      is >> _estimate[0] >> _estimate[1];
      return true;
    }

    bool VertexPointXY::write(std::ostream& os) const
    {
      os << estimate()(0) << " " << estimate()(1);
      return os.good();
    }

  } // end namespace
} // end namespace