// 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_EDGE_SE2_H
#define G2O_EDGE_SE2_H

#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o_types_slam2d_api.h"
#include "vertex_se2.h"

namespace g2o {

/**
 * \brief 2D edge between two Vertex2
 */
class G2O_TYPES_SLAM2D_API EdgeSE2
    : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE2();

  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
    SE2 delta =
        _inverseMeasurement * (v1->estimate().inverse() * v2->estimate());
    _error = delta.toVector();
  }
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

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

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

  virtual bool getMeasurementData(double* d) const {
    Vector3 v = _measurement.toVector();
    d[0] = v[0];
    d[1] = v[1];
    d[2] = v[2];
    return true;
  }

  virtual int measurementDimension() const { return 3; }

  virtual bool setMeasurementFromState() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
    _measurement = v1->estimate().inverse() * v2->estimate();
    _inverseMeasurement = _measurement.inverse();
    return true;
  }

  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet&,
                                         OptimizableGraph::Vertex*) {
    return 1.;
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
  virtual void linearizeOplus();
#endif
 protected:
  SE2 _inverseMeasurement;
};

class G2O_TYPES_SLAM2D_API EdgeSE2WriteGnuplotAction
    : public WriteGnuplotAction {
 public:
  EdgeSE2WriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};

#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM2D_API EdgeSE2DrawAction : public DrawAction {
 public:
  EdgeSE2DrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);

 protected:
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
  FloatProperty *_triangleX, *_triangleY;
};
#endif

}  // namespace g2o

#endif
