// 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
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#ifndef G2O_EDGE_SE3_PRIOR_XYZ_H
#define G2O_EDGE_SE3_PRIOR_XYZ_H

#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "parameter_se3_offset.h"
#include "vertex_se3.h"

namespace g2o {
/**
 * \brief Prior for a 3D pose with constraints only in xyz direction
 */
class G2O_TYPES_SLAM3D_API EdgeSE3XYZPrior
    : public BaseUnaryEdge<3, Vector3, VertexSE3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3XYZPrior();

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

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

  virtual int measurementDimension() const { return Dimension; }

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
  virtual void computeError();
  virtual void linearizeOplus();
  virtual bool setMeasurementFromState();

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

  const ParameterSE3Offset* offsetParameter() { return _offsetParam; }

 protected:
  virtual bool resolveCaches();
  ParameterSE3Offset* _offsetParam;
  CacheSE3Offset* _cache;
};

}  // namespace g2o

#endif
