vertex_odom_differential_params.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
//   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
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#ifndef G2O_VERTEX_ODOM_DIFFERENTIAL_PARAMS_H
#define G2O_VERTEX_ODOM_DIFFERENTIAL_PARAMS_H
 
#include "g2o/core/base_vertex.h"
#include "g2o_types_sclam2d_api.h"
 
namespace g2o {
 
class G2O_TYPES_SCLAM2D_API VertexOdomDifferentialParams
    : public BaseVertex<3, Vector3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexOdomDifferentialParams();
  virtual void setToOriginImpl() { _estimate << 1., 1., 1.; }
 
  virtual void oplusImpl(const double* v) {
    for (int i = 0; i < 3; i++) _estimate(i) += v[i];
  }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
};
 
}  // namespace g2o
 
#endif