edge_se2_pure_calib.h

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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
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#ifndef EDGE_SE2_PURE_CALIB_H
#define EDGE_SE2_PURE_CALIB_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/sclam2d/odometry_measurement.h"
#include "g2o/types/sclam2d/vertex_odom_differential_params.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_calibration_odom_laser_api.h"
 
namespace g2o {
 
struct G2O_CALIBRATION_ODOM_LASER_API OdomAndLaserMotion {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VelocityMeasurement velocityMeasurement;
  SE2 laserMotion;
};
 
class G2O_CALIBRATION_ODOM_LASER_API EdgeSE2PureCalib
    : public BaseBinaryEdge<3, OdomAndLaserMotion, VertexSE2,
                            VertexOdomDifferentialParams> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2PureCalib();
 
  void computeError();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
};
 
}  // namespace g2o
 
#endif