edge_xyz_prior.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
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// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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#include "edge_xyz_prior.h"
 
#include <iostream>
 
namespace g2o {
using namespace std;
 
EdgeXYZPrior::EdgeXYZPrior() : BaseUnaryEdge<3, Vector3, VertexPointXYZ>() {
  information().setIdentity();
}
 
bool EdgeXYZPrior::read(std::istream& is) {
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}
 
bool EdgeXYZPrior::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}
 
void EdgeXYZPrior::computeError() {
  const VertexPointXYZ* v = static_cast<const VertexPointXYZ*>(_vertices[0]);
  _error = v->estimate() - _measurement;
}
 
void EdgeXYZPrior::linearizeOplus() { _jacobianOplusXi = Matrix3::Identity(); }
 
bool EdgeXYZPrior::setMeasurementFromState() {
  const VertexPointXYZ* v = static_cast<const VertexPointXYZ*>(_vertices[0]);
  _measurement = v->estimate();
  return true;
}
}  // namespace g2o