edge_se2_pointxy.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
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//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_TUTORIAL_EDGE_SE2_POINT_XY_H
#define G2O_TUTORIAL_EDGE_SE2_POINT_XY_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o_tutorial_slam2d_api.h"
#include "parameter_se2_offset.h"
#include "vertex_point_xy.h"
#include "vertex_se2.h"
 
namespace g2o {
 
namespace tutorial {
 
class ParameterSE2Offset;
class CacheSE2Offset;
 
class G2O_TUTORIAL_SLAM2D_API EdgeSE2PointXY
    : public BaseBinaryEdge<2, Eigen::Vector2d, VertexSE2, VertexPointXY> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2PointXY();
 
  void computeError();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
 protected:
  ParameterSE2Offset* _sensorOffset;
  CacheSE2Offset* _sensorCache;
 
  virtual bool resolveCaches();
};
 
}  // namespace tutorial
}  // namespace g2o
 
#endif