// 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.

template <int D, typename T>
BaseVertex<D, T>::BaseVertex()
    : OptimizableGraph::Vertex(), _hessian(nullptr, D, D) {
  _dimension = D;
}

template <int D, typename T>
double BaseVertex<D, T>::solveDirect(double lambda) {
  Eigen::Matrix<double, D, D, Eigen::ColMajor> tempA =
      _hessian + Eigen::Matrix<double, D, D, Eigen::ColMajor>::Identity(
                     G2O_VERTEX_DIM, G2O_VERTEX_DIM) *
                     lambda;
  double det = tempA.determinant();
  if (std::isnan(det) || det < std::numeric_limits<double>::epsilon())
    return det;
  Eigen::Matrix<double, D, 1, Eigen::ColMajor> dx = tempA.llt().solve(_b);
  oplus(&dx[0]);
  return det;
}

template <int D, typename T>
void BaseVertex<D, T>::clearQuadraticForm() {
  _b.setZero();
}

template <int D, typename T>
void BaseVertex<D, T>::mapHessianMemory(double* d) {
  const int vertexDim = G2O_VERTEX_DIM;
  new (&_hessian) HessianBlockType(d, vertexDim, vertexDim);
}
