edge_se2_pointxy.cpp

Go to the documentation of this file.

// 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
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "edge_se2_pointxy.h"

#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_wrapper.h"
#include "g2o/stuff/opengl_primitives.h"
#endif

namespace g2o {

  EdgeSE2PointXY::EdgeSE2PointXY() :
    BaseBinaryEdge<2, Vector2D, VertexSE2, VertexPointXY>()
  {
  }

  bool EdgeSE2PointXY::read(std::istream& is)
  {
    is >> _measurement[0] >> _measurement[1];
    is >> information()(0,0) >> information()(0,1) >> information()(1,1);
    information()(1,0) = information()(0,1);
    return true;
  }

  bool EdgeSE2PointXY::write(std::ostream& os) const
  {
    os << measurement()[0] << " " << measurement()[1] << " ";
    os << information()(0,0) << " " << information()(0,1) << " " << information()(1,1);
    return os.good();
  }

  void EdgeSE2PointXY::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to)
  {
    assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexSE2 position by VertexPointXY");

    VertexSE2* vi     = static_cast<VertexSE2*>(_vertices[0]);
    VertexPointXY* vj = static_cast<VertexPointXY*>(_vertices[1]);
    if (from.count(vi) > 0 && to == vj) {
      vj->setEstimate(vi->estimate() * _measurement);
    }
  }

#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
  void EdgeSE2PointXY::linearizeOplus()
  {
    const VertexSE2* vi     = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexPointXY* vj = static_cast<const VertexPointXY*>(_vertices[1]);
    const double& x1        = vi->estimate().translation()[0];
    const double& y1        = vi->estimate().translation()[1];
    const double& th1       = vi->estimate().rotation().angle();
    const double& x2        = vj->estimate()[0];
    const double& y2        = vj->estimate()[1];

    double aux_1 = cos(th1) ;
    double aux_2 = -aux_1 ;
    double aux_3 = sin(th1) ;

    _jacobianOplusXi( 0 , 0 ) = aux_2 ;
    _jacobianOplusXi( 0 , 1 ) = -aux_3 ;
    _jacobianOplusXi( 0 , 2 ) = aux_1*y2-aux_1*y1-aux_3*x2+aux_3*x1 ;
    _jacobianOplusXi( 1 , 0 ) = aux_3 ;
    _jacobianOplusXi( 1 , 1 ) = aux_2 ;
    _jacobianOplusXi( 1 , 2 ) = -aux_3*y2+aux_3*y1-aux_1*x2+aux_1*x1 ;

    _jacobianOplusXj( 0 , 0 ) = aux_1 ;
    _jacobianOplusXj( 0 , 1 ) = aux_3 ;
    _jacobianOplusXj( 1 , 0 ) = -aux_3 ;
    _jacobianOplusXj( 1 , 1 ) = aux_1 ;
  }
#endif

  EdgeSE2PointXYWriteGnuplotAction::EdgeSE2PointXYWriteGnuplotAction(): WriteGnuplotAction(typeid(EdgeSE2PointXY).name()){}

  HyperGraphElementAction* EdgeSE2PointXYWriteGnuplotAction::operator()(HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params_){
    if (typeid(*element).name()!=_typeName)
      return 0;
    WriteGnuplotAction::Parameters* params=static_cast<WriteGnuplotAction::Parameters*>(params_);
    if (!params->os){
      std::cerr << __PRETTY_FUNCTION__ << ": warning, on valid os specified" << std::endl;
      return 0;
    }

    EdgeSE2PointXY* e =  static_cast<EdgeSE2PointXY*>(element);
    if (e->numUndefinedVertices())
      return this;
    VertexSE2* fromEdge = static_cast<VertexSE2*>(e->vertex(0));
    VertexPointXY* toEdge   = static_cast<VertexPointXY*>(e->vertex(1));
    *(params->os) << fromEdge->estimate().translation().x() << " " << fromEdge->estimate().translation().y()
      << " " << fromEdge->estimate().rotation().angle() << std::endl;
    *(params->os) << toEdge->estimate().x() << " " << toEdge->estimate().y() << std::endl;
    *(params->os) << std::endl;
    return this;
  }

#ifdef G2O_HAVE_OPENGL
  EdgeSE2PointXYDrawAction::EdgeSE2PointXYDrawAction(): DrawAction(typeid(EdgeSE2PointXY).name()){}

  HyperGraphElementAction* EdgeSE2PointXYDrawAction::operator()(HyperGraph::HyperGraphElement* element, 
                HyperGraphElementAction::Parameters*  params_){
    if (typeid(*element).name()!=_typeName)
      return 0;

    refreshPropertyPtrs(params_);
    if (! _previousParams)
      return this;
    
    if (_show && !_show->value())
      return this;


    EdgeSE2PointXY* e =  static_cast<EdgeSE2PointXY*>(element);
    VertexSE2* fromEdge = static_cast<VertexSE2*>(e->vertex(0));
    VertexPointXY* toEdge   = static_cast<VertexPointXY*>(e->vertex(1));
    if (! fromEdge)
      return this;
    Vector2D p=e->measurement();
    glPushAttrib(GL_ENABLE_BIT|GL_LIGHTING|GL_COLOR);
    glDisable(GL_LIGHTING);
    if (!toEdge){
      p=fromEdge->estimate()*p;
      glColor3f(LANDMARK_EDGE_GHOST_COLOR);
      glPushAttrib(GL_POINT_SIZE);
      glPointSize(3);
      glBegin(GL_POINTS);
      glVertex3f((float)p.x(),(float)p.y(),0.f);
      glEnd();
      glPopAttrib();
    } else {
      p=toEdge->estimate();
      glColor3f(LANDMARK_EDGE_COLOR);
    }
    glBegin(GL_LINES);
    glVertex3f((float)fromEdge->estimate().translation().x(),(float)fromEdge->estimate().translation().y(),0.f);
    glVertex3f((float)p.x(),(float)p.y(),0.f);
    glEnd();
    glPopAttrib();
    return this;
  }
#endif

} // end namespace