edge_se2.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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#ifndef G2O_TUTORIAL_EDGE_SE2_H
#define G2O_TUTORIAL_EDGE_SE2_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o_tutorial_slam2d_api.h"
#include "vertex_se2.h"
 
namespace g2o {
 
namespace tutorial {
 
class G2O_TUTORIAL_SLAM2D_API EdgeSE2
    : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2();
 
  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
    SE2 delta =
        _inverseMeasurement * (v1->estimate().inverse() * v2->estimate());
    _error = delta.toVector();
  }
 
  void setMeasurement(const SE2& m) {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
 protected:
  SE2 _inverseMeasurement;
};
 
}  // namespace tutorial
 
}  // namespace g2o
 
#endif