vertex_intrinsics.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 Kurt Konolige
// 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
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "vertex_intrinsics.h"
 
#include "g2o/stuff/misc.h"
 
namespace g2o {
 
VertexIntrinsics::VertexIntrinsics() {
  _estimate << cst(1.), cst(1.), cst(.5), cst(.5), cst(.1);
}
 
bool VertexIntrinsics::read(std::istream& is) {
  return internal::readVector(is, _estimate);
}
 
bool VertexIntrinsics::write(std::ostream& os) const {
  return internal::writeVector(os, estimate());
}
 
void VertexIntrinsics::setToOriginImpl() {
  _estimate << cst(1.), cst(1.), cst(0.5), cst(0.5), cst(0.1);
}
 
void VertexIntrinsics::oplusImpl(const double* update) {
  _estimate.head<4>() += Vector4(update);
}
 
}  // namespace g2o