// 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_se2_prior.h"

#include <cassert>

namespace g2o {

EdgeSE2Prior::EdgeSE2Prior() : BaseUnaryEdge<3, SE2, VertexSE2>() {}

void EdgeSE2Prior::initialEstimate(const OptimizableGraph::VertexSet& from,
                                   OptimizableGraph::Vertex* to) {
  assert(from.size() == 0);
  (void)from;
  (void)to;
  VertexSE2* v1 = static_cast<VertexSE2*>(_vertices[0]);
  v1->setEstimate(_measurement);
}

bool EdgeSE2Prior::read(std::istream& is) {
  Vector3 p;
  internal::readVector(is, p);
  setMeasurement(p);
  _inverseMeasurement = _measurement.inverse();
  readInformationMatrix(is);
  return true;
}

bool EdgeSE2Prior::write(std::ostream& os) const {
  internal::writeVector(os, measurement().toVector());
  return writeInformationMatrix(os);
}

void EdgeSE2Prior::setMeasurement(const SE2& m) {
  _measurement = m;
  _inverseMeasurement = m.inverse();
}

bool EdgeSE2Prior::setMeasurementData(const double* d) {
  _measurement = SE2(d[0], d[1], d[2]);
  _inverseMeasurement = _measurement.inverse();
  return true;
}

}  // namespace g2o
