g2o
vertex_point_xy.h
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26 
27 #ifndef G2O_TUTORIAL_VERTEX_POINT_XY_H
28 #define G2O_TUTORIAL_VERTEX_POINT_XY_H
29 
30 #include "g2o/core/base_vertex.h"
33 
34 #include <Eigen/Core>
35 
36 namespace g2o {
37  namespace tutorial {
38 
39  class G2O_TUTORIAL_SLAM2D_API VertexPointXY : public BaseVertex<2, Eigen::Vector2d>
40  {
41  public:
43  VertexPointXY();
44 
45  virtual void setToOriginImpl() {
46  _estimate.setZero();
47  }
48 
49  virtual void oplusImpl(const double* update)
50  {
51  _estimate[0] += update[0];
52  _estimate[1] += update[1];
53  }
54 
55  virtual bool read(std::istream& is);
56  virtual bool write(std::ostream& os) const;
57 
58  };
59 
60  }
61 }
62 
63 #endif
virtual void oplusImpl(const double *update)
Templatized BaseVertex.
Definition: base_vertex.h:50
#define G2O_TUTORIAL_SLAM2D_API
virtual void setToOriginImpl()
sets the node to the origin (used in the multilevel stuff)