// 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.
//
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#include "edge_se3_xyzprior.h"

#include <cassert>

namespace g2o {

EdgeSE3XYZPrior::EdgeSE3XYZPrior()
    : BaseUnaryEdge<3, Vector3, g2o::VertexSE3>() {
  information().setIdentity();
  setMeasurement(Vector3::Zero());
  _cache = 0;
  _offsetParam = 0;
  resizeParameters(1);
  installParameter(_offsetParam, 0);
}

bool EdgeSE3XYZPrior::resolveCaches() {
  assert(_offsetParam);
  ParameterVector pv(1);
  pv[0] = _offsetParam;
  resolveCache(_cache, (OptimizableGraph::Vertex*)_vertices[0],
               "CACHE_SE3_OFFSET", pv);
  return _cache != 0;
}

bool EdgeSE3XYZPrior::read(std::istream& is) {
  readParamIds(is);
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}

bool EdgeSE3XYZPrior::write(std::ostream& os) const {
  writeParamIds(os);
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}

void EdgeSE3XYZPrior::computeError() {
  const VertexSE3* v = static_cast<const VertexSE3*>(_vertices[0]);
  _error = v->estimate().translation() - _measurement;
}

void EdgeSE3XYZPrior::linearizeOplus() {
  const VertexSE3* v = static_cast<const VertexSE3*>(_vertices[0]);
  _jacobianOplusXi.block<3, 3>(0, 0) = v->estimate().rotation();
  _jacobianOplusXi.block<3, 3>(0, 3) = Eigen::Matrix3d::Zero();
}

bool EdgeSE3XYZPrior::setMeasurementFromState() {
  const VertexSE3* v = static_cast<const VertexSE3*>(_vertices[0]);
  _measurement = v->estimate().translation();
  return true;
}

void EdgeSE3XYZPrior::initialEstimate(
    const OptimizableGraph::VertexSet& /*from_*/,
    OptimizableGraph::Vertex* /*to_*/) {
  VertexSE3* v = static_cast<VertexSE3*>(_vertices[0]);
  assert(v && "Vertex for the Prior edge is not set");

  Isometry3 newEstimate =
      _offsetParam->offset().inverse() * Eigen::Translation3d(measurement());
  if (_information.block<3, 3>(0, 0).array().abs().sum() ==
      0) {  // do not set translation, as that part of the information is all
            // zero
    newEstimate.translation() = v->estimate().translation();
  }
  v->setEstimate(newEstimate);
}

}  // namespace g2o
