vertex_line3d.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
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#include "vertex_line3d.h"

namespace g2o {

  bool VertexLine3D::read(std::istream& is) {
    Vector6d lv;
    for (int i=0; i<6; i++)
      is >> lv[i];
    setEstimate(Line3D(lv));
    return true;
  }

  bool VertexLine3D::write(std::ostream& os) const {
    Vector6d lv=_estimate;
    for (int i=0; i<6; i++){
      os << lv[i] << " ";
    }
    return os.good();
  }

}