// 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:
//
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//   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_POINT_XY_BEARING_H
#define G2O_EDGE_SE2_POINT_XY_BEARING_H

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

namespace g2o {

class G2O_TYPES_SLAM2D_API EdgeSE2PointXYBearing
    : public BaseBinaryEdge<1, double, VertexSE2, VertexPointXY> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE2PointXYBearing();
  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
    Vector2 delta = (v1->estimate().inverse() * l2->estimate());
    double angle = std::atan2(delta[1], delta[0]);
    _error[0] = normalize_theta(_measurement - angle);
  }

  virtual bool setMeasurementData(const double* d) {
    _measurement = d[0];
    return true;
  }

  virtual bool getMeasurementData(double* d) const {
    d[0] = _measurement;
    return true;
  }

  int measurementDimension() const { return 1; }

  virtual bool setMeasurementFromState() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexPointXY* l2 = static_cast<const VertexPointXY*>(_vertices[1]);
    Vector2 delta = (v1->estimate().inverse() * l2->estimate());
    _measurement = std::atan2(delta[1], delta[0]);
    return true;
  }

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

  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex*) {
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
  virtual void linearizeOplus();
#endif
};

class G2O_TYPES_SLAM2D_API EdgeSE2PointXYBearingWriteGnuplotAction
    : public WriteGnuplotAction {
 public:
  EdgeSE2PointXYBearingWriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};

#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM2D_API EdgeSE2PointXYBearingDrawAction : public DrawAction {
 public:
  EdgeSE2PointXYBearingDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o

#endif
