vertex_point_xy.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
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#ifndef G2O_TUTORIAL_VERTEX_POINT_XY_H
#define G2O_TUTORIAL_VERTEX_POINT_XY_H
 
#include <Eigen/Core>
 
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_tutorial_slam2d_api.h"
 
namespace g2o {
namespace tutorial {
 
class G2O_TUTORIAL_SLAM2D_API VertexPointXY
    : public BaseVertex<2, Eigen::Vector2d> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexPointXY();
 
  virtual void setToOriginImpl() { _estimate.setZero(); }
 
  virtual void oplusImpl(const double* update) {
    _estimate[0] += update[0];
    _estimate[1] += update[1];
  }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
};
 
}  // namespace tutorial
}  // namespace g2o
 
#endif