vertex_se2.h

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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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#ifndef G2O_TUTORIAL_VERTEX_SE2_H
#define G2O_TUTORIAL_VERTEX_SE2_H

#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "se2.h"
#include "g2o_tutorial_slam2d_api.h"

namespace g2o {
  namespace tutorial {

    class G2O_TUTORIAL_SLAM2D_API VertexSE2 : public BaseVertex<3, SE2>
    {
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        VertexSE2();

        virtual void setToOriginImpl() {
          _estimate=SE2();
        }

        virtual void oplusImpl(const double* update)
        {
          SE2 up(update[0], update[1], update[2]);
          _estimate *= up;
        }

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

    };

  } // end namespace
} // end namespace

#endif