vertex_se2.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
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "vertex_se2.h"
 
#include <typeinfo>
 
#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_primitives.h"
#include "g2o/stuff/opengl_wrapper.h"
#endif
 
namespace g2o {
 
VertexSE2::VertexSE2() : BaseVertex<3, SE2>() {}
 
bool VertexSE2::read(std::istream& is) {
  Vector3 p;
  bool state = internal::readVector(is, p);
  setEstimate(p);
  return state;
}
 
bool VertexSE2::write(std::ostream& os) const {
  return internal::writeVector(os, estimate().toVector());
}
 
VertexSE2WriteGnuplotAction::VertexSE2WriteGnuplotAction()
    : WriteGnuplotAction(typeid(VertexSE2).name()) {}
 
HyperGraphElementAction* VertexSE2WriteGnuplotAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;
  WriteGnuplotAction::Parameters* params =
      static_cast<WriteGnuplotAction::Parameters*>(params_);
  if (!params || !params->os) {
    return nullptr;
  }
 
  VertexSE2* v = static_cast<VertexSE2*>(element);
  *(params->os) << v->estimate().translation().x() << " "
                << v->estimate().translation().y() << " "
                << v->estimate().rotation().angle() << std::endl;
  return this;
}
 
#ifdef G2O_HAVE_OPENGL
VertexSE2DrawAction::VertexSE2DrawAction()
    : DrawAction(typeid(VertexSE2).name()),
      _drawActions(nullptr),
      _triangleX(nullptr),
      _triangleY(nullptr) {}
 
bool VertexSE2DrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
  if (_previousParams) {
    _triangleX = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::TRIANGLE_X", .2f);
    _triangleY = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::TRIANGLE_Y", .05f);
  } else {
    _triangleX = 0;
    _triangleY = 0;
  }
  return true;
}
 
HyperGraphElementAction* VertexSE2DrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;
  initializeDrawActionsCache();
  refreshPropertyPtrs(params_);
 
  if (!_previousParams) return this;
 
  if (_show && !_show->value()) return this;
 
  VertexSE2* that = static_cast<VertexSE2*>(element);
 
  glColor3f(POSE_VERTEX_COLOR);
  glPushMatrix();
  glTranslatef((float)that->estimate().translation().x(),
               (float)that->estimate().translation().y(), 0.f);
  glRotatef((float)RAD2DEG(that->estimate().rotation().angle()), 0.f, 0.f, 1.f);
  opengl::drawArrow2D((float)_triangleX->value(), (float)_triangleY->value(),
                      (float)_triangleX->value() * .3f);
  drawCache(that->cacheContainer(), params_);
  drawUserData(that->userData(), params_);
  glPopMatrix();
  return this;
}
#endif
 
}  // namespace g2o