vertex_point_xy.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_VERTEX_POINT_XY_H
#define G2O_TUTORIAL_VERTEX_POINT_XY_H

#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_tutorial_slam2d_api.h"

#include <Eigen/Core>

namespace g2o {
  namespace tutorial {

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

        virtual void setToOriginImpl() {
          _estimate.setZero();
        }

        virtual void oplusImpl(const double* update)
        {
          _estimate[0] += update[0];
          _estimate[1] += update[1];
        }

        virtual bool read(std::istream& is);
        virtual bool write(std::ostream& os) const;

    };

  }
}

#endif