edge_se2_pointxy_calib.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,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "edge_se2_pointxy_calib.h"
 
#include <cassert>
 
namespace g2o {
 
EdgeSE2PointXYCalib::EdgeSE2PointXYCalib()
    : BaseVariableSizedEdge<2, Vector2>() {
  resize(3);
}
 
void EdgeSE2PointXYCalib::initialEstimate(
    const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/) {
  assert(from.size() == 1 && from.count(_vertices[0]) == 1 &&
         "Can not initialize VertexSE2 position by VertexPointXY");
 
  if (from.count(_vertices[0]) != 1) return;
  VertexSE2* vi = static_cast<VertexSE2*>(_vertices[0]);
  VertexPointXY* vj = static_cast<VertexPointXY*>(_vertices[1]);
  vj->setEstimate(vi->estimate() * _measurement);
}
 
bool EdgeSE2PointXYCalib::read(std::istream& is) {
  internal::readVector(is, _measurement);
  readInformationMatrix(is);
  return true;
}
 
bool EdgeSE2PointXYCalib::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}
 
}  // namespace g2o