vertex_se3_euler.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
// 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
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#include "vertex_se3_euler.h"
#include "g2o/types/slam3d/isometry3d_mappings.h"

#include <iostream>

using namespace Eigen;

namespace g2o
{

  bool VertexSE3Euler::read(std::istream& is)
  {

    Vector6d est;
    for (int i=0; i<6; i++)
      is  >> est[i];
    Isometry3D transf= g2o::internal::fromVectorET(est);
    setEstimate(transf);
    updateCache();
    return true;
  }

  bool VertexSE3Euler::write(std::ostream& os) const
  {
    Vector6d est =  g2o::internal::toVectorET(estimate());
    for (int i=0; i<6; i++)
      os << est[i] << " ";
    return os.good();
  }

} // end namespace