// 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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#include "edge_se2.h"

using namespace Eigen;

namespace g2o {
namespace tutorial {

EdgeSE2::EdgeSE2() : BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2>() {}

bool EdgeSE2::read(std::istream& is) {
  Vector3d p;
  is >> p[0] >> p[1] >> p[2];
  _measurement.fromVector(p);
  _inverseMeasurement = measurement().inverse();
  for (int i = 0; i < 3; ++i)
    for (int j = i; j < 3; ++j) {
      is >> information()(i, j);
      if (i != j) information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE2::write(std::ostream& os) const {
  Vector3d p = measurement().toVector();
  os << p.x() << " " << p.y() << " " << p.z();
  for (int i = 0; i < 3; ++i)
    for (int j = i; j < 3; ++j) os << " " << information()(i, j);
  return os.good();
}

}  // namespace tutorial
}  // namespace g2o
