vertex_se3_quat.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:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_DEPRECATED_VERTEX_SE3_QUAT_
#define G2O_DEPRECATED_VERTEX_SE3_QUAT_

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o/types/slam3d/se3quat.h"
#include "g2o_deprecated_types_slam3d_api.h"

namespace g2o {
namespace deprecated {


class G2O_DEPRECATED_TYPES_SLAM3D_API VertexSE3 : public BaseVertex<6, SE3Quat>
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    VertexSE3();

    virtual void setToOriginImpl() {
      _estimate = SE3Quat();
    }

    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.fromVector(v);
      return true;
    }

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

    virtual int estimateDimension() const {
      return 7;
    }

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

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

    virtual int minimalEstimateDimension() const {
      return 6;
    }

    virtual void oplusImpl(const double* update)
    {
      Eigen::Map<const Vector6d> v(update);
      SE3Quat increment(v);
      _estimate *= increment;
    }
};

  class G2O_DEPRECATED_TYPES_SLAM3D_API VertexSE3WriteGnuplotAction: public WriteGnuplotAction {
  public:
    VertexSE3WriteGnuplotAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_ );
  };

#ifdef G2O_HAVE_OPENGL
  class G2O_DEPRECATED_TYPES_SLAM3D_API VertexSE3DrawAction: public DrawAction{
  public:
    VertexSE3DrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_ );
    HyperGraphElementAction* _cacheDrawActions;
  protected:
    virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
    FloatProperty* _triangleX, *_triangleY;
  };
#endif

} // end namespace
} // end namespace

#endif