// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// 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
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#ifndef G2O_EDGE_SE2_PRIOR_H
#define G2O_EDGE_SE2_PRIOR_H

#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam2d_api.h"
#include "vertex_se2.h"

namespace g2o {

/**
 * \brief Prior for a two D pose
 */
class G2O_TYPES_SLAM2D_API EdgeSE2Prior
    : public BaseUnaryEdge<3, SE2, VertexSE2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2Prior();

  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    SE2 delta = _inverseMeasurement * v1->estimate();
    _error = delta.toVector();
  }

  virtual void linearizeOplus() {
    _jacobianOplusXi.setZero();
    _jacobianOplusXi.block<2, 2>(0, 0) =
        _inverseMeasurement.rotation().toRotationMatrix();
    _jacobianOplusXi(2, 2) = 1.;
  }

  virtual void setMeasurement(const SE2& m);
  virtual bool setMeasurementData(const double* d);

  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector3> v(d);
    v = _measurement.toVector();
    return true;
  }

  int measurementDimension() const { return 3; }

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet&,
                                         OptimizableGraph::Vertex*) {
    return 1.;
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

 protected:
  SE2 _inverseMeasurement;
};

}  // namespace g2o

#endif
