vertex_odom_differential_params.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
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#include "vertex_odom_differential_params.h"

namespace g2o {

  VertexOdomDifferentialParams::VertexOdomDifferentialParams() :
    BaseVertex <3, Vector3D>()
  {
  }

  bool VertexOdomDifferentialParams::read(std::istream& is)
  {
    is >> _estimate(0) >> _estimate(1) >> _estimate(2);
    return true;
  }

  bool VertexOdomDifferentialParams::write(std::ostream& os) const
  {
    os << estimate()(0) << " " << estimate()(1) << " " << estimate()(2);
    return os.good();
  }

}