vertex_se3.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
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
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#ifndef G2O_VERTEX_SE3_
#define G2O_VERTEX_SE3_

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "isometry3d_mappings.h"
#include "g2o_types_slam3d_api.h"

namespace g2o {

  class G2O_TYPES_SLAM3D_API VertexSE3 : public BaseVertex<6, Isometry3D>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

      static const int orthogonalizeAfter = 1000; //< orthogonalize the rotation matrix after N updates

      VertexSE3();

      virtual void setToOriginImpl() {
        _estimate = Isometry3D::Identity();
      }

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

      virtual bool setEstimateDataImpl(const double* est){
        Eigen::Map<const Vector7d> v(est);
        _estimate=internal::fromVectorQT(v);
        return true;
      }

      virtual bool getEstimateData(double* est) const{
        Eigen::Map<Vector7d> v(est);
        v=internal::toVectorQT(_estimate);
        return true;
      }

      virtual int estimateDimension() const {
        return 7;
      }

      virtual bool setMinimalEstimateDataImpl(const double* est){
        Eigen::Map<const Vector6d> v(est);
        _estimate = internal::fromVectorMQT(v);
        return true;
      }

      virtual bool getMinimalEstimateData(double* est) const{
        Eigen::Map<Vector6d> v(est);
        v = internal::toVectorMQT(_estimate);
        return true;
      }

      virtual int minimalEstimateDimension() const {
        return 6;
      }

      virtual void oplusImpl(const double* update)
      {
        Eigen::Map<const Vector6d> v(update);
        Isometry3D increment = internal::fromVectorMQT(v);
        _estimate = _estimate * increment;
        if (++_numOplusCalls > orthogonalizeAfter) {
          _numOplusCalls = 0;
          internal::approximateNearestOrthogonalMatrix(_estimate.matrix().topLeftCorner<3,3>());
        }
      }

      SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) { return internal::toSE3Quat(estimate());}
      void G2O_ATTRIBUTE_DEPRECATED(setEstimateFromSE3Quat(const SE3Quat& se3)) { setEstimate(internal::fromSE3Quat(se3));}

    protected:
      int _numOplusCalls;     
  };

  class VertexSE3WriteGnuplotAction: public WriteGnuplotAction {
    public:
      VertexSE3WriteGnuplotAction();
      virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
          HyperGraphElementAction::Parameters* params_ );
  };

#ifdef G2O_HAVE_OPENGL

  class G2O_TYPES_SLAM3D_API VertexSE3DrawAction: public DrawAction{
    public:
      VertexSE3DrawAction();
      virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params_);
    protected:
      virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
      FloatProperty* _triangleX, *_triangleY;
  };
#endif

} // end namespace

#endif